CN210719199U - Multi-equipment combined navigation system of underwater robot - Google Patents
Multi-equipment combined navigation system of underwater robot Download PDFInfo
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Abstract
A multi-equipment combined navigation system of an underwater robot is characterized in that a global satellite positioning system obtains absolute position information and speed information of the underwater robot in real time before or after the underwater robot dives or floats; the Doppler log obtains the absolute speed information and the off-bottom height information of the underwater robot on the water bottom in real time after the underwater robot is laid in water; the depth meter outputs navigation depth information of the underwater robot in real time, and the current meter outputs current speed and direction in real time; the propulsion motor outputs the rotating speed of the propulsion motor in real time, and the rotating speed of the propulsion motor and the underwater vehicle speed information of the underwater robot can be obtained according to theoretical or actual navigation verification; the strapdown inertial navigation device receives relevant information output by a global satellite positioning system, a Doppler log, a depth meter, a current meter and a propulsion motor, reads map information of an electronic chart through a combined navigation fusion algorithm, and outputs position information, attitude information and speed information of the underwater robot in real time to form accurate navigation positioning information of the underwater robot.
Description
Technical Field
The utility model belongs to the ocean equipment field relates to underwater robot navigation, in particular to underwater robot multi-device combined navigation system.
Background
Because the environment under the sea surface is bad, the diving depth of human beings is influenced by factors such as external pressure of seawater and the like and can only dive in a certain depth, the diving operation depth is limited, and the underwater robot becomes an important tool for developing the sea such as sea resource exploration, marine organism research, sea environment observation, underwater target search, rescue and salvage and the like.
The navigation equipment is one of basic equipment for acquiring self-positioning information and realizing path planning and navigation of the underwater robot, and different from a robot used in a ground base and air, the traditional satellite navigation cannot be used in underwater robot equipment due to rapid propagation and attenuation of radio waves in water.
Currently, most underwater robots adopt equipment such as an inertial navigation device, a log, a global satellite positioning system and an acoustic positioning system for navigation and positioning, the acoustic positioning system needs external ship tracking or more acoustic positioning beacons in a sea area to be matched, the acoustic positioning operation distance is limited, the use flexibility of the underwater robot is limited, and the guarantee requirement of the underwater robot is improved, but when no other navigation equipment is used for compensation, the positioning error of the inertial navigation device is gradually accumulated and dispersed along with the underwater navigation time of the underwater robot, so that the underwater robot inertial navigation device is generally matched with the log for use; the speed error output by the log when the log normally bottoms in a certain water depth range is small, but the log cannot bottom and is switched into a convection working mode along with the navigation of the underwater robot to the deep sea, so that the measurement precision of the log in the convection working mode is sharply reduced, and the combined navigation positioning precision of the log and the inertial navigation device is directly influenced; most underwater robots can float to the water surface and are calibrated by a global positioning system to eliminate navigation errors caused by long-time underwater navigation, but the underwater robots waste energy and effective operation time due to frequent floating and submerging, and meanwhile, the concealment of the underwater robots is reduced.
Therefore, the underwater robot autonomously navigates underwater for a long time, if the concealment reduction, the energy consumption increase and the operation time reduction caused by floating to the water surface are required to be reduced, the high-precision integrated navigation technology is always one of the main key technologies to be solved when the underwater robot navigates in a large-depth sea area.
CN 110044378A records a high-precision positioning system and method for optical fiber strapdown inertial navigation of an underwater deep submersible vehicle, and the system comprises a global positioning system module, a strapdown inertial navigation receiving module, a Doppler log, a terrain geomagnetic sensor, an information fusion filtering module and a navigation resolving module, wherein the global positioning system module is used for determining the speed, position and attitude information of a carrier before the carrier enters water; the strapdown inertial navigation receiving module is used for measuring the speed, position and attitude information of the carrier after the carrier enters water; the Doppler log is used for measuring the speed of the carrier, and the terrain geomagnetic sensor is used for measuring the position and attitude information of the carrier; the information fusion filtering module is used for fusing and filtering the carrier speed, position and attitude information output by the strapdown inertial navigation receiving module and the carrier speed, position and attitude information output by the Doppler log and the terrain geomagnetic sensor; the navigation resolving module is used for resolving the data output by the strapdown inertial navigation receiving module and the data subjected to fusion correction processing to obtain accurate navigation speed, position and attitude information.
CN 110068331a describes an underwater navigation positioning device and system, including: a hydrophone, a processor and a sound source generator; the sound source generator is fixed at a designated position in a water area where the underwater equipment is located in advance, and is used for sending a modulated sound wave signal, and the modulated sound wave signal carries time information for sending the modulated sound wave signal; the hydrophone is arranged on the outer surface of the underwater equipment and is used for detecting the modulated sound wave signal sent by the sound source generator; the processor is electrically connected with the hydrophone and used for determining the distance between the sound source generator and the hydrophone according to the time information in the modulated sound wave signals received by the hydrophone and determining the underwater position of the underwater equipment according to the position information of the sound source generator and the distance between the sound source generator and the hydrophone.
CN 105787489A records a matching navigation algorithm based on an underwater landform image, the matching navigation algorithm based on the underwater landform image is adopted to convert a real-time image and a reference image to be matched with the real-time image into circular templates, and invariant moment features of the two circular templates are extracted as matching contents; taking Euclidean distance of invariant moment feature vectors between the real-time graph and the reference graph as similarity measurement; the position of the reference image corresponding to the minimum Euclidean distance is the matching position of the real-time image; a particle swarm optimization algorithm is adopted to replace a traversal search mode; improving a particle swarm optimization algorithm by utilizing a multi-population thought; and after the matching position of the real-time image is searched, determining the course angle by using a maximum cross-correlation method.
An article, namely conversion of a GPS coordinate system and application thereof in attitude solution, in journal of command control and simulation in 10.2008 deduces a conversion relation between a navigation coordinate system and a carrier coordinate system on the basis of Euler angle rotation, deduces a corresponding conversion matrix, and deduces and explains a carrier determination method on the basis.
Disclosure of Invention
The utility model aims to solve the technical problem that a many equipment combination navigation of underwater robot and method are provided, to the problem that present common underwater navigation technique exists, with strapdown inertial navigation device, global positioning system, doppler log, the depth gauge, the current meter, propulsion motor, the electron chart, a plurality of equipment combination uses such as navigation computer, when restraining underwater robot deep sea navigation, the current mode test accuracy of log not high causes strapdown inertial navigation device and the not high problem of log combination navigation accuracy, show the navigation accuracy that improves underwater robot deep water district navigation.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: a underwater robot multi-equipment integrated navigation system comprises a strapdown inertial navigation device, and is characterized in that the strapdown inertial navigation device is connected with a global satellite positioning system, a Doppler log, a depth meter, a current meter and a propulsion motor;
the global satellite positioning system is used for acquiring information such as absolute position, speed and the like of the underwater robot in real time before the underwater robot submerges on a shore base or a distribution ship, sending the information to the strapdown inertial navigation device for rough alignment and precise alignment, acquiring initial longitude and latitude information of the underwater robot and resolving an attitude matrix, or acquiring information such as absolute position, speed and the like of the underwater robot after floating up to eliminate long-time navigation errors of the inertial navigation device;
the Doppler log is used for acquiring absolute speed information and off-bottom height information of the underwater robot to the water bottom in real time after the underwater robot is laid in water, and the Doppler log and the strapdown inertial navigation device form an underwater robot speed damping feedback mechanism;
the depth meter is used for acquiring navigation depth information of the underwater robot in real time and sending the navigation depth information to the strapdown inertial navigation device, and the depth meter and the strapdown inertial navigation device form a damping feedback mechanism in the height direction of the underwater robot;
the current meter is used for collecting the speed and direction of the underwater robot under the water surface, and sending the speed and direction to the navigation strapdown inertial navigation device for correcting the corresponding navigational speed error of the propulsion motor in the static water;
the propulsion motor outputs a moment to propel the underwater robot to sail, and sends the rotating speed of the propulsion motor to the strapdown inertial navigation device, and the corresponding relation between the rotating speed and the sailing speed of the underwater robot can be obtained according to theory and underwater actual sailing experience of the underwater robot; when the Doppler log and the strapdown inertial navigation device are combined for navigation, the speed information output when the Doppler log and the strapdown inertial navigation device are combined for navigation is used as a reference, the online calculation of the speed scale factor can be carried out on the navigation speed of the underwater robot deduced by the propulsion motor and the current meter, and the model precision formed by the rotation speed of the propulsion motor and the current meter can be further optimized and improved.
The strapdown inertial navigation device comprises a gyroscope and an accelerometer, wherein the gyroscope is used for measuring the angular velocity rate of the underwater robot, and the accelerometer is used for measuring the velocity information of the underwater robot.
The electronic chart is arranged in front of the strapdown inertial navigation device, and the chart information such as water depth, route obstacles and the like of the current position of the underwater robot can be inquired according to the longitude and latitude information so as to verify whether the combined navigation calculation of the strapdown inertial navigation device is normal.
According to the navigation method using the system, the corresponding relation between the rotating speed of the propulsion motor and the constant-speed sailing speed of the underwater robot in still water is built in the strapdown inertial navigation device, and when the underwater robot sails underwater, the strapdown inertial navigation device can combine Doppler log data to calculate the X, Y-axis sailing speed of the underwater robot according to the rotating speed of the propulsion motor and the received ocean current speed and ocean current direction information output by the ocean current meter.
When the underwater robot sails in shallow water and the Doppler log works against the bottom, the strapdown inertial navigation device performs combined navigation with the Doppler log and the depth meter; when the underwater robot sails in deep water and the Doppler log cannot effectively work against the bottom, the strapdown inertial navigation device, the propulsion motor, the current meter and the depth meter are combined for navigation, the bottoming depth of the Doppler log is low, the depth of the water area deepens along with the navigation of the underwater robot, once the maximum bottoming depth of the Doppler log is exceeded, the Doppler log works in a convection mode, and the test precision sharply drops in the convection mode, so that the combined navigation precision of the Doppler log and the strapdown inertial navigation device sharply drops. At the moment, the strapdown inertial navigation device comprehensively compares the position information, the attitude information and the speed information of the underwater robot calculated according to the self pure inertial navigation with the received rotating speed information of the propulsion motor and the current speed and direction output by the current meter, and forms accurate integrated navigation positioning information after Kalman filtering.
The navigation system comprises the following specific working steps:
step S1: the underwater robot control equipment controls the strapdown inertial navigation unit to be powered on, and starts to work after the self-checking is passed.
Step S2: the strapdown inertial navigation device performs initial alignment according to the information such as longitude and latitude, speed and the like output by the global satellite positioning system, completes self attitude, position and speed calculation of the strapdown inertial navigation device and outputs navigation information to the navigation control center of the underwater robot.
Step S3: after the strapdown inertial navigation unit receives the output information of the Doppler log, the Doppler log performs bottom work when the navigation is performed in a shallow water area, the strapdown inertial navigation unit performs combined navigation with the Doppler log and a depth meter, meanwhile, error online calibration is performed on the combined speed output by the propulsion motor and the current meter, and the scale factor of the combined speed output by the propulsion motor and the current meter is calculated.
Step S4: when the underwater robot sails to a deep water area and exceeds the bottoming depth of the Doppler log, the strapdown inertial navigation device is combined with the propulsion motor, the current meter and the depth meter for navigation.
Step S5: and calling an electronic chart built in the strapdown inertial navigation device before the combined navigation output, and checking the chart information such as the depth, course obstacles and the like of the underwater robot under the current longitude and latitude.
Step S6: after the verification is passed, the strapdown inertial navigation device outputs navigation information to the underwater robot navigation control center, and when the underwater robot navigates to a set calibration point, the underwater robot floats to the water surface for calibration.
Step S7: and when the underwater robot autonomously navigates to the terminal of the navigation path or the operation is finished, the underwater robot floats upwards to wait for recovery, and the integrated navigation is finished.
When the underwater robot navigates underwater, the strapdown inertial navigation device can calculate the navigation speed of the X, Y axle carrier coordinate system of the underwater robot according to the combined Doppler log data
Synchronously carrying out navigation speed V of the underwater robot according to the rotating speed of the propulsion motor and the received information of the current speed and the current direction measured by the current metertzCalculate and in
To velocity VtzIs calculated on-line.
The specific calculation process of the step S3 is as follows:
the transformation matrix between the b system of the carrier coordinate system and the n system of the navigation coordinate system is
Assuming that the ocean current flow velocity of the underwater robot is Vc and the ocean current flow direction psi when the underwater robot meets the geographic coordinate system in navigationcThe component of the flow velocity Vc in the carrier coordinate system is
Vxc＝Vccos(ψc-φ)
Vyc＝Vcsin(ψc-φ)
Velocity component of the underwater robot in the carrier coordinate system
Vx＝Vxtz+Vxc＝Vtzcosφ+Vccos(ψc-φ)
Vy＝Vytz+Vxc＝Vtzsinφ+Vcsin(ψc-φ)
When still water and underwater robot balance, the testing error source mainly comes from scale factor error and random measurement error, if scale factor error and random error are considered, the rotating speed and the speed value of the propulsion motor can be expressed as follows:
where k is the scale factor error, is a random constant, δ VtzIs a random measurement error;
compared with the current universal underwater robot navigation system, the invention has the beneficial effects that:
1) the underwater robot multi-device combined navigation system has wide application prospect, and provides important engineering application technical support in most of marine application fields, such as underwater exploration and search, underwater large-depth long-distance scientific investigation, marine geological survey, deep sea biological research and the like, because the high-precision navigation of the underwater robot is the basis and the premise of the self operation and navigation of the underwater robot.
2) The invention solves the problem of poor precision of large-depth navigation, utilizes the Doppler log to measure the speed in a shallow water area with high precision, but aims at the problem of low measurement precision of the Doppler log during convection, and utilizes the comprehensive calculation of the ocean current speed and direction output by the ocean current meter and the rotating speed of the propulsion motor corresponding to the basically constant navigational speed to form accurate combined navigation positioning information after Kalman filtering. When the navigation path deviation is found through calibration, the electronic chart software embedded in the inertial navigation device can further verify whether the navigation output is correct or not, and the precision of the integrated navigation system is improved.
3) The invention reduces energy consumption and operation time, and utilizes the ocean current speed output by the ocean current meter and the basically constant corresponding navigational speed of the rotating speed of the propulsion motor when the underwater robot sails in deep sea to form accurate combined navigation precision after Kalman filtering, thereby reducing the floating calibration times of the underwater robot, increasing the concealment of the underwater robot, and reducing the energy consumption and the effective operation time caused by frequent floating and submerging.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a composition diagram of the multi-device integrated navigation system of the present invention;
FIG. 2 is a schematic view of the navigation principle of the multi-device combination of the present invention;
FIG. 3 is a flow chart of the multi-device integrated navigation control calculation of the present invention;
FIG. 4 is a schematic connection diagram of a strapdown inertial navigation unit.
In the figure: the system comprises a strapdown inertial navigation device 1, a global satellite positioning system 2, a Doppler log 3, a depth meter 4, a current meter 5, a propulsion motor 6 and an electronic chart 7.
Detailed Description
As shown in fig. 1, the underwater robot multi-equipment integrated navigation system comprises a strapdown inertial navigation device 1, and is characterized in that the strapdown inertial navigation device 1 is connected with a global satellite positioning system 2, a doppler log 3, a depth meter 4, a current meter 5 and a propulsion motor 6;
the global satellite positioning system 2 is used for acquiring information such as absolute position, speed and the like of the underwater robot in real time before the underwater robot submerges on a shore base or a laying ship, sending the information to the strapdown inertial navigation device 1 for rough alignment and precise alignment, acquiring initial longitude and latitude information of the underwater robot and resolving an attitude matrix, or acquiring information such as absolute position, speed and the like of the underwater robot after floating up to eliminate long-time navigation errors of the inertial navigation device;
the Doppler log 3 is used for acquiring absolute speed information and off-bottom height information of the underwater robot to the water bottom in real time after the underwater robot is laid in water, and the Doppler log 3 and the strapdown inertial navigation device 1 form an underwater robot speed damping feedback mechanism;
the depth meter 4 is used for collecting navigation depth information of the underwater robot in real time and sending the navigation depth information to the strapdown inertial navigation device 1, and the depth meter 4 and the strapdown inertial navigation device 1 form a damping feedback mechanism of the underwater robot in the height direction;
the current meter 5 is used for collecting the speed and direction of the underwater robot under the water surface, sending the speed and direction to the navigation strapdown inertial navigation device 1 and correcting the corresponding navigational speed error of the propulsion motor in the static water;
the propulsion motor 6 outputs a moment to propel the underwater robot to sail, and sends the rotating speed of the propulsion motor 7 to the strapdown inertial navigation unit 1, and the corresponding relation between the rotating speed and the sailing speed of the underwater robot can be obtained according to theories and underwater actual sailing experiences of the underwater robot; when the Doppler log 3 and the strapdown inertial navigation unit 1 are in combined navigation, the speed information output when the Doppler log 3 and the strapdown inertial navigation unit 1 are in combined navigation is used as a reference, the speed scale factor on-line calculation can be carried out on the navigation speed of the underwater robot deduced by the propulsion motor 6 and the current meter 5, and the model precision formed by the rotation speed of the propulsion motor 6 and the current meter 5 can be further optimized and improved.
The circuit structure in the device of the strapdown inertial navigation device 1 adopts a universal architecture, the inertial sensor adopts a CS-IMU-10 inertial measurement unit of a Zhongxing measurement and control company, an X, Y, Z triaxial gyroscope and an accelerometer are integrated, a computer board of the strapdown inertial navigation device adopts a Shenzhen Shenbo SCM9032 system core module + SEM/CSD CAN bus interface module, and an operating system CAN be built in the computer board based on an Intel N455 processor, a CAN communication interface, a serial port and a network port data communication interface.
The global positioning system 2 is a commercially available product, such as a BS-7953N GPS receiver communicating in north of Shenzhen.
The doppler log 3 is a commercially available product, such as a DVL500khz log from Nortek corporation.
The depth gauge 4 is a commercially available product, such as SBE 50 digital pressure sensor manufactured by seabond.
The propulsion motor 6 is a commercially available product, for example, a 500-meter underwater motor manufactured by jinan preinstalled direct drive motor limited.
As shown in fig. 4, the strapdown inertial navigation device 1 includes a gyroscope for measuring an angular velocity rate of the underwater robot and an accelerometer for measuring velocity information of the underwater robot.
As shown in fig. 1, an electronic chart 7 is arranged in front of the strapdown inertial navigation device 1, and chart information such as water depth, course obstacles and the like of the current position of the underwater robot can be inquired according to latitude and longitude information so as to verify whether the combined navigation calculation of the strapdown inertial navigation device 1 is normal.
As shown in fig. 3 and 4, in the navigation method using the system, the strapdown inertial navigation unit 1 has a corresponding relationship between the rotation speed of the propulsion motor 6 and the still water uniform navigation speed of the underwater robot, and when the underwater robot navigates underwater, the strapdown inertial navigation unit 1 can combine the data of the doppler velocity log 3 to calculate the X, Y-axis navigation speed of the underwater robot according to the rotation speed of the propulsion motor 6 and the received current speed and current direction information output by the current meter 5.
When the underwater robot sails in shallow water and the Doppler log works against the bottom, the strapdown inertial navigation device 1 is combined with the Doppler log and the depth gauge 4 for navigation; when the underwater robot sails in deep water and the Doppler log cannot effectively work against the bottom, the strapdown inertial navigation device 1, the propulsion motor 6, the current meter 5 and the depth meter 4 are combined for navigation, the bottoming depth of the Doppler log 3 is low, the depth of a water area deepens along with the sailing of the underwater robot, once the depth exceeds the maximum bottoming depth of the Doppler log 3, the Doppler log 3 works in a convection mode, and the testing precision sharply drops in the convection mode, so that the combined navigation precision of the Doppler log 3 and the strapdown inertial navigation device 1 is sharply reduced. At this time, the strapdown inertial navigation device 1 comprehensively compares the position information, the attitude information and the speed information of the underwater robot calculated according to the self pure inertial navigation with the received rotating speed information of the propulsion motor and the current speed and direction output by the current meter, and forms accurate integrated navigation positioning information after Kalman filtering.
The navigation system comprises the following specific working steps:
step S1: the underwater robot control equipment controls the strapdown inertial navigation unit 1 to be powered on, and starts to work after the self-checking is passed.
Step S2: the strapdown inertial navigation unit 1 performs initial alignment according to the longitude and latitude, speed and other information output by the global satellite positioning system 2, completes calculation of the self attitude, position and speed of the strapdown inertial navigation unit 1 and outputs navigation information to the navigation control center of the underwater robot.
Step S3: after the strapdown inertial navigation unit 1 receives the output information of the Doppler log 3, the Doppler log 3 performs bottom work in a shallow water navigation process, the strapdown inertial navigation unit 1 performs combined navigation with the Doppler log 3 and the depth gauge 4, and meanwhile performs error online calibration on the combined speed output by the propulsion motor 6 and the current meter 5, and calculates the combined speed scale factor output by the propulsion motor 6 and the current meter 5.
Step S4: when the underwater robot sails to a deep water area and exceeds the bottoming depth of the Doppler log 3, the strapdown inertial navigation device 1, the propulsion motor 6, the current meter 5 and the depth meter 4 are combined for navigation.
Step S5: and calling an electronic chart 7 built in the strapdown inertial navigation device 1 before the combined navigation is output, and checking the chart information such as the depth, the course obstacle and the like of the underwater robot under the current longitude and latitude.
Step S6: after the verification is passed, the strapdown inertial navigation device 1 outputs navigation information to the underwater robot navigation control center, and when the underwater robot navigates to a set calibration point, the underwater robot floats to the water surface for calibration.
Step S7: and when the underwater robot autonomously navigates to the terminal of the navigation path or the operation is finished, the underwater robot floats upwards to wait for recovery, and the integrated navigation is finished.
When the underwater robot navigates underwater, the strapdown inertial navigation unit 1 can calculate the navigation speed of the X, Y axis of the underwater robot according to the combined data of the doppler log 3
Synchronously carrying out navigation speed V of the underwater robot according to the rotating speed of the propulsion motor 6 and the received information of the current speed and the current direction measured by the current meter 5tzCalculate and in
To velocity VtzIs calculated on-line.
The specific calculation process of the step S3 is as follows:
the transformation matrix between the b system of the carrier coordinate system and the n system of the navigation coordinate system is
Assuming that the ocean current flow velocity of the underwater robot is Vc and the ocean current flow direction psi when the underwater robot meets the geographic coordinate system in navigationcThe component of the flow velocity Vc in the carrier coordinate system is
Vxc＝Vccos(ψc-φ)
Vyc＝Vcsin(ψc-φ)
Velocity component of the underwater robot in the carrier coordinate system
Vx＝Vxtz+Vxc＝Vtzcosφ+Vccos(ψc-φ)
Vy＝Vytz+Vxc＝Vtzsinφ+Vcsin(ψc-φ)
When still water and underwater robot balance, the testing error source mainly comes from scale factor error and random measurement error, if scale factor error and random error are considered, the rotating speed and the speed value of the propulsion motor can be expressed as follows:
where k is the scale factor error, is a random constant, δ VtzIs a random measurement error;
after the sea current speed scale factor measured by the rotating speed of the propulsion motor and the current meter is obtained, the V can be (1+ k)tzAs the navigation speed damping calculated by the rotating speed of the propulsion motor of the strapdown inertial navigation device 1 in deep water navigation, the problem that the combined navigation precision of the Doppler log 3 and the strapdown inertial navigation device 1 is sharply reduced due to the sharp reduction of the test precision of the Doppler log in a convection mode during deep water navigation can be avoided.
Claims (3)
1. An underwater robot multi-equipment combined navigation system comprises a strapdown inertial navigation device (1), and is characterized in that the strapdown inertial navigation device (1) is connected with a global satellite positioning system (2), a Doppler log (3), a depth meter (4), a current meter (5) and a propulsion motor (6);
the global satellite positioning system (2) is used for acquiring absolute position information and speed information of the underwater robot in real time before the underwater robot submerges or after the underwater robot floats upwards, and sending the absolute position information and the speed information to the strapdown inertial navigation device (1);
the Doppler log (3) is used for acquiring absolute speed information and off-bottom height information of the underwater robot to the water bottom in real time after the underwater robot is laid in water and sending the absolute speed information and the off-bottom height information to the strapdown inertial navigation device (1);
the depth meter (4) is used for collecting navigation depth information of the underwater robot in real time and sending the navigation depth information to the strapdown inertial navigation device (1);
the current meter (5) is used for collecting the speed and the direction of the underwater robot at the sea under the water surface and sending the speed and the direction to the navigation strapdown inertial navigation device (1);
the propulsion motor (6) outputs torque to push the underwater robot to sail, and the rotating speed of the propulsion motor (6) is sent to the strapdown inertial navigation unit (1).
2. The underwater robot multi-device combined navigation system as claimed in claim 1, wherein: the strapdown inertial navigation device (1) comprises a gyroscope and an accelerometer, wherein the gyroscope is used for measuring the angular velocity rate of the underwater robot, and the accelerometer is used for measuring the velocity information of the underwater robot.
3. The underwater robot multi-device combined navigation system as claimed in claim 2, wherein: an electronic chart (7) is arranged in the strapdown inertial navigation device (1), and chart information such as the water depth of the current position of the underwater robot, route obstacles and the like can be inquired according to longitude and latitude information so as to verify whether the combined navigation calculation of the strapdown inertial navigation device (1) is normal.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112363169A (en) * | 2020-10-27 | 2021-02-12 | 哈尔滨工程大学 | Full-sea-depth underwater robot and positioning method thereof |
| CN112462322A (en) * | 2020-11-12 | 2021-03-09 | 应急管理部四川消防研究所 | Underwater frogman positioning method and positioning system |
| CN113124865A (en) * | 2021-04-20 | 2021-07-16 | 中山大学 | Underwater vehicle navigation positioning system and control method |
| CN113155120A (en) * | 2021-03-10 | 2021-07-23 | 中石化管道技术服务有限公司 | Underwater pipeline position coordinate measuring method |
| CN113252028A (en) * | 2021-06-28 | 2021-08-13 | 深之蓝海洋科技股份有限公司 | Positioning method of robot in water delivery tunnel, electronic device and storage medium |
| CN117346795A (en) * | 2023-12-05 | 2024-01-05 | 青岛智能导航与控制研究所 | Combined navigation method of submarine craft integrating inertial navigation, doppler log and long base line |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112363169A (en) * | 2020-10-27 | 2021-02-12 | 哈尔滨工程大学 | Full-sea-depth underwater robot and positioning method thereof |
| CN112462322A (en) * | 2020-11-12 | 2021-03-09 | 应急管理部四川消防研究所 | Underwater frogman positioning method and positioning system |
| CN113155120A (en) * | 2021-03-10 | 2021-07-23 | 中石化管道技术服务有限公司 | Underwater pipeline position coordinate measuring method |
| CN113124865A (en) * | 2021-04-20 | 2021-07-16 | 中山大学 | Underwater vehicle navigation positioning system and control method |
| CN113124865B (en) * | 2021-04-20 | 2023-05-26 | 中山大学 | Navigation positioning system and control method for underwater vehicle |
| CN113252028A (en) * | 2021-06-28 | 2021-08-13 | 深之蓝海洋科技股份有限公司 | Positioning method of robot in water delivery tunnel, electronic device and storage medium |
| CN113252028B (en) * | 2021-06-28 | 2021-09-21 | 深之蓝海洋科技股份有限公司 | Positioning method of robot in water delivery tunnel, electronic device and storage medium |
| CN117346795A (en) * | 2023-12-05 | 2024-01-05 | 青岛智能导航与控制研究所 | Combined navigation method of submarine craft integrating inertial navigation, doppler log and long base line |
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