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Autonomous positioning and node map constructing method for underwater robot

An underwater robot and autonomous positioning technology, applied in the direction of height or depth control, can solve the problems of inability to obtain angle relationship, inability to determine random node position, infeasibility, etc.

Active Publication Date: 2018-01-16
ZHEJIANG UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method is basically feasible in theory, but in actual use, the mobile node can only obtain the position relationship between itself and the random node, but cannot obtain the angle relationship, which directly leads to the inability to determine the position of the random node, making the method overall unfeasible

Method used

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  • Autonomous positioning and node map constructing method for underwater robot
  • Autonomous positioning and node map constructing method for underwater robot
  • Autonomous positioning and node map constructing method for underwater robot

Examples

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Embodiment Construction

[0069] In the following, an example of randomly distributing a node network composed of several unknown nodes in the sea area, using AUV to construct a node map and at the same time autonomously positioning the AUV to illustrate the method of the present invention.

[0070] (1) In the initial position of the AUV, 4 nodes with known positions are arranged artificially, and the 4 nodes are arranged in a square (see figure 2 ). The AUV uses these 4 nodes to solve the observation position of the AUV in the initial stage by using the maximum likelihood method. 200 particles are generated at the initial stage, and the positions of all particles are the same as the observation positions in the initial stage of the AUV.

[0071] Since formulas (1-1) ~ (1-7) give general calculation forms, the specific calculation forms are related to the probability distribution of their design and AUV movement. The following examples illustrate the specific meanings of variables, functions and probabili...

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Abstract

The invention relates to the field of underwater robot navigation technology, and aims to provide an autonomous positioning and node map constructing method for an underwater robot. The invention provides a novel node positioning and underwater robot autonomous positioning method, namely a mobile node can only acquire a position relation between the mobile node and a random node, all nodes are positioned, thereby acquiring a node map and positioning an AUV. The method can determine randomly arranged node positions in a relatively large range and acquires the node map, and furthermore ensures afact that the position coordinate error of the AUV is in a relatively small range. The method only requires the distance between the AUV at each optimal estimation position with an unknown node and does not require an angle relation between the AUV and the unknown node. Compared with a traditional method, a sonar is utilized for measuring the distance, thereby greatly reducing a measurement cost.The autonomous positioning and node map constructing method can satisfy a working requirement in a large-range sea area and can ensure low self positioning error and low node positioning average error of the node map.

Description

Technical field [0001] The invention belongs to the technical field of underwater robot navigation, and designs a method for using an underwater robot (Autonomous Underwater Vehicle, AUV; hereinafter referred to as AUV) to locate a wireless sensor network node and simultaneously determine its own position. Background technique [0002] With the development of the ocean, wireless sensor network technology has been widely used in the fields of marine ecological status monitoring, marine geological information collection, and aircraft positioning. Due to the limitation of deployment cost, it is impossible to preset each node in the network to accurately arrange it. However, in actual use, the location of all nodes is required to be known. Therefore, solving the problem of node positioning in wireless sensor networks is the key to wireless sensor network applications. [0003] In order to solve this problem, researchers have proposed a variety of traditional wireless sensor network nod...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
Inventor 冀大雄孙明哲宋伟朱世强
Owner ZHEJIANG UNIV
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