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High-precision integrated navigation positioning method for underwater glider

An underwater glider and integrated navigation technology, applied in the field of navigation, can solve the problem of not being able to wait

Active Publication Date: 2015-04-01
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The problem to be solved by the present invention is: underwater glider navigation and positioning require low power consumption, long endurance, high precision, small volume, etc., so the selection of devices is restricted, and the existing algorithms are all deficient, requiring a A navigation and positioning method for underwater glider, which overcomes the lack of high-precision long-duration real-time navigation and positioning of traditional integrated navigation systems due to the accumulation of errors over time, and achieves high precision in data processing, algorithm optimization, and filtering methods. , high real-time performance, long endurance and high stability

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Embodiment Construction

[0040] The invention discloses a high-precision integrated navigation and positioning method for underwater glider, which involves the output of the inertial measurement unit IMU to obtain higher-precision data after rough processing and fine processing; based on Runge-Kutta (RK 4 ) method of dead reckoning DR; hierarchical filtering algorithm adaptive Kalman AKF and unscented Kalman UKF; the IMU output data after twice processing is fused with the DR output as the input of UKF, and fed back to the IMU after filtering to correct the IMU cumulative error.

[0041] The present invention comprises the following steps:

[0042] (1) The original data output by the IMU has relatively large noise, and the high-frequency noise can be removed by the IIR low-pass filter. But the cut-off frequency should not be too low, otherwise useful signals will be filtered out and the actual filtering results will be deviated. The IIR low pass filter is designed as:

[0043] s ...

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Abstract

The invention discloses a high-precision integrated navigation positioning method for an underwater glider. The method comprises the steps that output of an inertial measurement unit (IMU) is subjected to rough processing and fine processing; higher-precision data is obtained; data obtained by dead reckoning based on a Runge-Kutta method (RK4) is combined; adaptive Kalman filtering (AKF) and unscented Kalman filtering (UKF) are conducted; the filtered data is fed back to the IMU; an accumulative error of the IMU is corrected; and relatively accurate information such as position, speed and gesture is finally output. The autonomous navigation method for the underwater glider has the advantages of high precision, real-time performance, stability, and the like, so that a whole navigation system can stably operate at long endurance, high precision and low power consumption, the current position and gesture information of an underwater aircraft can be obtained rapidly and accurately, and navigation path and position parameters can be provided for the underwater aircraft.

Description

technical field [0001] The invention belongs to the technical field of navigation, relates to navigation and positioning of underwater glider, and is a high-precision combined navigation and positioning method for underwater glider. The method has high reliability, high precision, high stability and real-time performance, etc. It can realize accurate positioning and autonomous navigation of underwater glider. Background technique [0002] For the positioning and navigation of underwater glider, in order to achieve the purpose of low power consumption, low cost, and long endurance, the number of navigation sensors is required to be as small as possible. The inertial measurement unit IMU based on MEMS is small in size and light in weight. , low power consumption and other advantages, coupled with its ability to provide high accuracy in a short period of time without external interference, it is used as the preferred navigation component for underwater glider. However, the MEM...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
Inventor 陈熙源黄浩乾刘虎周智恺唐建方琳
Owner SOUTHEAST UNIV
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