An autonomous underwater robot integrated navigation system

Abstract

The invention discloses an autonomous underwater robot combined navigation system comprising a pressure-withstanding GPS positioning device, an acceleration sensor, a gyroscope, an embedded central processor, a built-in pressure gauge and an underwater acoustic communication sonar. A plurality of cameras are installed around an underwater robot body; and a Beidou module is installed in each camera. A water flow sensor and an external pressure sensor are installed on the outer wall of the underwater acoustic communication sonar. In addition, the system also consists of a data processing module, a panoramic video generation module, a physical model building module, a virtual actuator, a virtual sensor, and a navigation route simulation analysis module. According to the invention, on the basis of the Beidou module design, position detection of the GPS positioning device and all sensors is completed; position parameter correction is completed automatically; and the system can be used conveniently. Meanwhile, simulation of each simulated line can be carried out by a physical model, thereby obtaining an optimized line and improving the system visuality; and the line accuracy and security are improved.

Description

technical field [0001] The invention relates to a navigation system, in particular to an autonomous underwater robot combined navigation system. Background technique [0002] At present, the miniaturization of intelligent underwater robots is one of the development trends. Due to its small size, flexible maneuverability, low cost, and convenient carrying, small underwater robots have broad application prospects in military and civilian use. Navigation problem is still one of the main key technologies faced by underwater robot design. Now the commonly used methods for underwater robot navigation include dead reckoning, inertial navigation and acoustic methods. The inertial navigation system is generally large in size and expensive. The most important thing is that the positioning error of the pure inertial navigation system navigation will accumulate and diverge with time and voyage without compensation from other sensor data information. The underwater acoustic positioning...

AI Technical Summary

Problems solved by technology

Micro underwater robots are limited by volume, cost, energy and other limitations, which put forward higher requirements for the navigation system, which increases the difficulty of constructing a miniaturized integrated navigation system

The navigation system is generally composed of miniaturized and low-cost sensors, and the accuracy of the sensors is low. At the same time, underwater robots generally work in the unique underwater environment of the ocean, and the interference noise signal is large. Various underwater acoustic sensors generally have low accuracy and high wild point rate. It is especially important to filter out the outlier information from the sensor data better.

Dead reckoning navigation generally requires regular position corrections. If the dive depth is large, it will consume more energy by surfacing and readjusting the position through GPS. This is especially unfavorable for tiny underwater robots with limited energy.

At the same time, the existing underwater robot navigation system generally does not have route simulation simulation operation, which has poor visibility and low accuracy.

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