Underwater navigating and positioning method of AUV (Autonomous Underwater Vehicle) based on SINS/USBL tight combination

Abstract

The invention discloses an underwater navigating and positioning method of an AUV (Autonomous Underwater Vehicle) based on SINS / USBL tight combination. The AUV comprises a strap-down inertial navigation system SINS and an ultra-short base line system USBL; the ultra-short base line system comprises a hydrophone receiving array mounted on AUV and a sound source arranged on the seabed. The method comprises the following steps: calculating slope distance according to propagation time from sound wave to an array center hydrophone, carrying out mutual correlation of frequency domain weighting to obtain time delay difference from the sound wave to two hydrophones on an array coordinate axis so as to calculate arrival distance difference, filtering the slope distance and the arrival distance difference output by USBL and the slope distance and the arrival distance difference calculated by SINS, filtering, outputting and carrying out re-feedback compensation on SINS. Through the underwater navigating and positioning method of the AUV based on SINS / USBL tight combination, the problem of long-term position error accumulation of SINS is solved; through tight combination of the slope distance and the arrival distance difference of USBL and the slope distance and the arrival distance difference of SINS, coordinate conversion errors and array offset errors caused by direct calculation of the position of USBL are avoided; the positioning accuracy of the AUV is improved.

Description

technical field [0001] The invention belongs to underwater navigation technology, in particular to an AUV underwater navigation and positioning method based on the tight combination of SINS / USBL. Background technique [0002] The ocean has become the main battlefield for fierce competition among countries in the 21st century and beyond, and AUV (Autonomous Underwater Vehicle) is undoubtedly an indispensable tool for future development of marine resources and expansion of the marine military field. The application of AUV in the civilian field is mainly reflected in the investigation of the marine environment, the exploration of seabed minerals, biological resources, maritime rescue, marine archaeology, and the construction and maintenance of submarine optical cables or other engineering projects; the application in the military field, summed up It can be roughly divided into five aspects: mine countermeasures, intelligence collection, marine environment monitoring, communicat...

AI Technical Summary

Problems solved by technology

However, when the ultra-short baseline system directly calculates the position, it will introduce coordinate conversion errors and matrix offset errors, so that the positioning accuracy of the ultra-short baseline is not high, and the positioning accuracy of the integrated navigation system cannot be guaranteed.

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