CN2788131Y - Mini-type underwater self-combination navigation equipment - Google Patents
Mini-type underwater self-combination navigation equipment Download PDFInfo
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- CN2788131Y CN2788131Y CN 200520020572 CN200520020572U CN2788131Y CN 2788131 Y CN2788131 Y CN 2788131Y CN 200520020572 CN200520020572 CN 200520020572 CN 200520020572 U CN200520020572 U CN 200520020572U CN 2788131 Y CN2788131 Y CN 2788131Y
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model relates to mini-type underwater self-combination navigation equipment which comprises a GPS, a doppler velocimeter, an optical fiber compass, a multi-serial port card and an underwater navigation computer. When in work, the doppler velocimeter is used for providing velocity information, and the optical fiber compass is used for providing attitude information, such as the heading of an underwater robot, etc. The information is simultaneously delivered into the multi-serial port card and is input into the underwater navigation computer by a PC104 system bus. As the underwater navigation computer does pretreatment for data, then the position information of the underwater robot can be calculated by a ship position estimation method, such as latitude, longitude, etc. As the errors of ship position estimation are accumulated following time, the data of the GPS received in timing can be readjusted and corrected according to needs. The utility model has the advantages of small volume and weight, and high accuracy, stability and economical efficiency. The utility model can be applied to mini-type underwater robots for scientific reconnaissance, military reconnaissance and underwater operation.
Description
Technical field
The utility model relates to the small-sized device of independent combined navigation under water that is applicable to small underwater robot.
Background technology
Small underwater robot has very wide application prospect at aspects such as military and ocean development, because small underwater robot will navigate by water and finish various tasks under water for a long time, just must have remote, long-time, precise navigation ability, but also good disguise should be arranged.The navigation positioning system that is used for small underwater robot has inertial navigation, worldwide navigation Positioning System (GPS), length/weak point baseline fixed sonar etc. several.Wherein, length/weak point baseline fixed sonar system need install and fix the basic matrix of position, is not suitable for the long-distance navigation of small underwater robot; Small-sized inertial navigation is not because external blockade on new techniques possesses the condition of extensive application; GPS can only use at the water surface.The present domestic independent navigation device that is applicable to small underwater robot that still do not have.
Summary of the invention
Formation of the present utility model comprises GPS (1), doppler velocity instrument (2), optical fiber compass (3), multi-serial-port card (4), underwater navigation computing machine (5).Wherein, doppler velocity instrument (2) and optical fiber compass (3) are used to provide the velocity information and the attitude information of small underwater robot; GPS (1) is used for location and the position correction after the underwater navigation some time before the small underwater robot dive; Underwater navigation computing machine (5) is used for the processing of speed and attitude information and the calculating of dead reckoning.
During the utility model work, by GPS (1) small underwater robot is positioned earlier, after the dive navigation, by doppler velocity instrument (2) provide bow that velocity information, optical fiber compass (3) provide underwater robot to etc. attitude information, import multi-serial-port card (4) during these information of same into, by PC104 system bus input underwater navigation computing machine (5).Based on the method for abnormal value removing and correction of data variation rate data are carried out pre-service by underwater navigation computing machine (5) utilization, and data are carried out filtering with the fade extended Kalman filter of the factor of band suboptimum, calculate the position information such as longitude and latitude of underwater robot then according to the dead reckoning algorithm principle.Because the error of dead reckoning adds up in time, so should regularly receive the correction of resetting of the data of GPS (1) on demand.
The utlity model has volume, weight is little, navigation accuracy and stability, the higher characteristics of economy, can be applicable to scientific exploration, military surveillance and underwater operation is the small underwater robot of purpose.
Description of drawings
The small-sized independent combined navigation under water of Fig. 1 apparatus structure theory diagram
The small-sized independent combined navigation under water of Fig. 2 device multi-serial-port card circuit theory diagrams
Embodiment
GPS (1) selected Allstar for use when the utility model was implemented, and doppler velocity instrument (2) is selected WHN600 for use, and optical fiber compass (3) is selected Ocant1000 for use, and underwater navigation computing machine (5) is selected MSMP3SEV for use.They are connected with multi-serial-port card (4) respectively, and multi-serial-port card (4) links with PC104 system bus mode and underwater navigation computing machine (5) again, forms the small-sized device of independent combined navigation under water.By GPS (1) small underwater robot is positioned during work, after the dive navigation, after velocity information that is provided by doppler velocity instrument (2) and optical fiber compass (3) and angle information calculate through the data acquisition of underwater navigation computing machine (5) and pre-service, data filtering processing and dead reckoning, obtain the positional information of small underwater robot, and the correction of resetting of the positional information of utilizing GPS (1) to provide when needed.
This device volume, weight are less, have higher precision and stability, economy.Can be applicable to scientific exploration, military surveillance and underwater operation is the small underwater robot of purpose.
Claims (1)
1. small-sized device of independent combined navigation under water, it is characterized in that forming by GPS (1), doppler velocity instrument (2), optical fiber compass (3), multi-serial-port card (4), underwater navigation computing machine (5), wherein GPS (1), doppler velocity instrument (2) and optical fiber compass (3) link with multi-serial-port card (4) electric signal respectively, and electric signal links between multi-serial-port card (4) and the underwater navigation computing machine (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520020572 CN2788131Y (en) | 2005-04-08 | 2005-04-08 | Mini-type underwater self-combination navigation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520020572 CN2788131Y (en) | 2005-04-08 | 2005-04-08 | Mini-type underwater self-combination navigation equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2788131Y true CN2788131Y (en) | 2006-06-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520020572 Expired - Fee Related CN2788131Y (en) | 2005-04-08 | 2005-04-08 | Mini-type underwater self-combination navigation equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN2788131Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101382427B (en) * | 2008-09-19 | 2011-04-20 | 哈尔滨工程大学 | Magnetoelectric combined course indicator and combined course indicating method |
| CN102052923A (en) * | 2010-11-25 | 2011-05-11 | 哈尔滨工程大学 | Small-sized underwater robot combined navigation system and navigation method |
| CN102052924A (en) * | 2010-11-25 | 2011-05-11 | 哈尔滨工程大学 | Combined navigation and positioning method of small underwater robot |
| CN102231082A (en) * | 2011-04-08 | 2011-11-02 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN111025229A (en) * | 2019-12-19 | 2020-04-17 | 哈尔滨工程大学 | Underwater robot pure orientation target estimation method |
-
2005
- 2005-04-08 CN CN 200520020572 patent/CN2788131Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101382427B (en) * | 2008-09-19 | 2011-04-20 | 哈尔滨工程大学 | Magnetoelectric combined course indicator and combined course indicating method |
| CN102052923A (en) * | 2010-11-25 | 2011-05-11 | 哈尔滨工程大学 | Small-sized underwater robot combined navigation system and navigation method |
| CN102052924A (en) * | 2010-11-25 | 2011-05-11 | 哈尔滨工程大学 | Combined navigation and positioning method of small underwater robot |
| CN102052923B (en) * | 2010-11-25 | 2013-02-27 | 哈尔滨工程大学 | Small-sized underwater robot combined navigation system and navigation method |
| CN102231082A (en) * | 2011-04-08 | 2011-11-02 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN102231082B (en) * | 2011-04-08 | 2013-06-12 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN111025229A (en) * | 2019-12-19 | 2020-04-17 | 哈尔滨工程大学 | Underwater robot pure orientation target estimation method |
| CN111025229B (en) * | 2019-12-19 | 2022-11-01 | 哈尔滨工程大学 | Underwater robot pure orientation target estimation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |