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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- 239000013307 optical fiber Substances 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000012937 correction Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 239000000835 fiber Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000009189 diving Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013480 data collection Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
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Abstract
本实用新型是小型水下自主组合导航装置，其构成包括GPS、多普勒速度仪、光纤罗经、多串口卡、水下导航计算机。工作时由多普勒速度仪提供速度信息、光纤罗经提供水下机器人的艏向等姿态信息，这些信息同时传入多串口卡，通过PC104系统总线输入水下导航计算机。由水下导航计算机对数据进行预处理，然后根据船位推算方法计算得到水下机器人的经纬度等位置信息。由于船位推算的误差随时间累计，所以应按需要定时接收GPS的数据进行重调校正。该装置体积、重量较小，具有较高的精度和稳定性、经济性。可应用于以科学探测、军事侦察和水下作业为目的的小型水下机器人。
The utility model is a small underwater autonomous combined navigation device, which comprises a GPS, a Doppler velocity meter, an optical fiber compass, a multi-serial port card, and an underwater navigation computer. When working, the speed information is provided by the Doppler velocimeter, and the attitude information such as the heading of the underwater robot is provided by the fiber optic compass. These information are simultaneously transmitted to the multi-serial port card and input to the underwater navigation computer through the PC104 system bus. The underwater navigation computer preprocesses the data, and then calculates the longitude and latitude of the underwater robot according to the ship's position reckoning method. Since the error of ship position reckoning accumulates over time, it is necessary to regularly receive GPS data for readjustment and correction. The device has small volume and weight, high precision, stability and economy. It can be applied to small underwater robots for scientific detection, military reconnaissance and underwater operations.
Description
技术领域technical field
本实用新型涉及适用于小型水下机器人的小型水下自主组合导航装置。The utility model relates to a small underwater autonomous combined navigation device suitable for a small underwater robot.
背景技术Background technique
小型水下机器人在军事和海洋开发等方面具有极为广阔的应用前景，由于小型水下机器人要在水下长时间航行和完成各种任务，就必须具有远距离、长时间、高精度的导航能力，而且还应有很好的隐蔽性。用于小型水下机器人的导航定位系统有惯性导航、全球导航定位系统(GPS)、长/短基线定位声纳等几种。其中，长/短基线定位声纳系统需要安装固定位置的基阵，不适合于小型水下机器人的远距离航行；小型惯性导航由于国外的技术封锁不具备大量应用的条件；GPS只能在水面应用。目前国内尚无适用于小型水下机器人的自主导航装置。Small underwater robots have extremely broad application prospects in military and marine development, because small underwater robots must have long-distance, long-term, high-precision navigation capabilities if they want to sail underwater for a long time and complete various tasks , but also should have good concealment. The navigation and positioning systems used for small underwater robots include inertial navigation, global navigation and positioning system (GPS), and long/short baseline positioning sonar. Among them, the long/short baseline positioning sonar system needs to install a fixed-position array, which is not suitable for long-distance navigation of small underwater robots; small inertial navigation does not have the conditions for a large number of applications due to foreign technology blockades; GPS can only be used on the water surface application. At present, there is no autonomous navigation device suitable for small underwater robots in China.
发明内容Contents of the invention
本实用新型的构成包括GPS(1)、多普勒速度仪(2)、光纤罗经(3)、多串口卡(4)、水下导航计算机(5)。其中，多普勒速度仪(2)和光纤罗经(3)用于提供小型水下机器人的速度信息和姿态信息；GPS(1)用于小型水下机器人下潜前的定位和水下航行若干时间后的位置修正；水下导航计算机(5)用于速度和姿态信息的处理以及船位推算的计算。The utility model comprises a GPS (1), a Doppler velocity meter (2), an optical fiber compass (3), a multi-serial port card (4), and an underwater navigation computer (5). Among them, the Doppler velocity meter (2) and the fiber optic compass (3) are used to provide the speed information and attitude information of the small underwater robot; the GPS (1) is used for the positioning and underwater navigation of the small underwater robot before diving. Position correction after time; the underwater navigation computer (5) is used for the processing of speed and attitude information and the calculation of ship position reckoning.
本实用新型工作时，先由GPS(1)对小型水下机器人进行定位，下潜航行后，由多普勒速度仪(2)提供速度信息、光纤罗经(3)提供水下机器人的艏向等姿态信息，这些信息同时传入多串口卡(4)，通过PC104系统总线输入水下导航计算机(5)。由水下导航计算机(5)利用基于数据变化率的野值剔除方法对数据进行预处理，并用带次优渐消因子的扩展卡尔曼滤波器对数据进行滤波，然后根据船位推算算法原理进行计算得到水下机器人的经纬度等位置信息。由于船位推算的误差随时间累计，所以应按需要定时接收GPS(1)的数据进行重调校正。When the utility model works, the small underwater robot is positioned by the GPS (1), and after diving, the speed information is provided by the Doppler velocity meter (2), and the heading of the underwater robot is provided by the optical fiber compass (3). Wait for attitude information, these information are imported into multi-serial port card (4) simultaneously, input underwater navigation computer (5) by PC104 system bus. The underwater navigation computer (5) preprocesses the data using the outlier elimination method based on the data change rate, and filters the data with an extended Kalman filter with a suboptimal fading factor, and then calculates according to the principle of the ship's position reckoning algorithm Obtain location information such as longitude and latitude of the underwater robot. Since the error of ship position reckoning accumulates with time, the data of GPS(1) should be received regularly for readjustment and correction as required.
本实用新型具有体积、重量小，导航精度和稳定性、经济性较高的特点，可应用于以科学探测、军事侦察和水下作业为目的的小型水下机器人。The utility model has the characteristics of small volume and weight, high navigation accuracy and stability, and high economy, and can be applied to small underwater robots for scientific detection, military reconnaissance and underwater operations.
附图说明Description of drawings
图1小型水下自主组合导航装置结构原理框图Fig.1 Structural principle block diagram of small underwater autonomous integrated navigation device
图2小型水下自主组合导航装置多串口卡电路原理图Figure 2 The circuit schematic diagram of the multi-serial port card of the small underwater autonomous integrated navigation device
具体实施方式Detailed ways
本实用新型实施时GPS(1)选用Allstar，多普勒速度仪(2)选用WHN600，光纤罗经(3)选用Ocant1000，水下导航计算机(5)选用MSMP3SEV。将它们分别与多串口卡(4)连接，多串口卡(4)再以PC104系统总线方式与水下导航计算机(5)相联，形成小型水下自主组合导航装置。工作时由GPS(1)对小型水下机器人进行定位，下潜航行后，由多普勒速度仪(2)和光纤罗经(3)提供的速度信息和角度信息经过水下导航计算机(5)的数据采集和预处理、数据滤波处理和船位推算计算后，得到小型水下机器人的位置信息，并在需要时利用GPS(1)提供的位置信息进行重调校正。When the utility model is implemented, GPS (1) selects Allstar for use, Doppler velocity meter (2) selects WHN600 for use, optical fiber compass (3) selects Ocant1000 for use, and underwater navigation computer (5) selects MSMP3SEV for use. They are respectively connected with the multi-serial port card (4), and the multi-serial port card (4) is connected with the underwater navigation computer (5) in the PC104 system bus mode to form a small underwater autonomous combined navigation device. The small underwater robot is positioned by the GPS (1) during work, and after diving, the speed information and angle information provided by the Doppler velocity meter (2) and the fiber optic compass (3) pass through the underwater navigation computer (5) After the data collection and preprocessing, data filtering processing and ship position reckoning calculation, the position information of the small underwater robot is obtained, and the position information provided by GPS (1) is used for readjustment and correction when necessary.
该装置体积、重量较小，具有较高的精度和稳定性、经济性。可应用于以科学探测、军事侦察和水下作业为目的的小型水下机器人。The device has small volume and weight, high precision, stability and economy. It can be applied to small underwater robots for scientific detection, military reconnaissance and underwater operations.
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| CN 200520020572 CN2788131Y (en) | 2005-04-08 | 2005-04-08 | Mini-type underwater self-combination navigation equipment |
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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 | A pure azimuth target estimation method for underwater robot |
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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 | An integrated navigation system and navigation method for a 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 |
| 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 | A pure azimuth target estimation method for underwater robot |
| 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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