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Full-domain magnetic compass course error correcting method and navigation error correcting method for autonomous underwater vehicle (AUV)

A heading error and magnetic compass technology, which is applied in the field of underwater unmanned autonomous vehicle navigation, can solve the problems that the navigation filtering algorithm is difficult to effectively improve the navigation accuracy, difficult to meet the requirements of cost control, reliability and applicability discount, etc. To achieve the effect of easier operation, easy realization and wide application range of parameter adjustment

Pending Publication Date: 2018-03-02
XIAN TIANHE SEA DEFENSE INTELLIGENT TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0003] With the development of underwater unmanned autonomous vehicles, the method of replacing higher-precision attitude and speed sensors is difficult to meet people's requirements for cost control; it is difficult to effectively improve navigation accuracy by replacing complex navigation filtering algorithms. The applicability is greatly reduced; unilaterally filtering the heading information of the magnetic compass cannot fundamentally solve the problem of heading information distortion

Method used

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  • Full-domain magnetic compass course error correcting method and navigation error correcting method for autonomous underwater vehicle (AUV)
  • Full-domain magnetic compass course error correcting method and navigation error correcting method for autonomous underwater vehicle (AUV)
  • Full-domain magnetic compass course error correcting method and navigation error correcting method for autonomous underwater vehicle (AUV)

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Embodiment 1

[0048] This embodiment provides a global magnetic compass heading error correction method, which is suitable for when the position of the underwater unmanned autonomous vehicle's working area changes greatly, that is, it can be applied in the global range, such as figure 1 shown, including the following steps:

[0049] S1. Obtain the current heading provided by the magnetic compass and the magnetic declination of the working area of ​​the underwater unmanned autonomous vehicle;

[0050] S2. According to the heading calculation at the current moment, the magnetic compass semicircle error generated by the hard magnetic field interference is obtained;

[0051] S3. Calculate and obtain the quadrant error of the magnetic compass according to the heading at the current moment;

[0052] S4. Obtain the magnetic compass circumference error caused by soft magnetic field interference and installation error;

[0053] S5. Calculate and obtain the magnetic compass error at the current mom...

Embodiment 2

[0080] This embodiment provides a navigation error correction method for an underwater autonomous vehicle. Before the underwater autonomous vehicle introduces the heading information into the dead reckoning algorithm, the magnetic compass is first compensated for the magnetic field, the magnetic declination angle is corrected, and the error angle is installed. correction, and then pass the corrected heading information through After filtering and smoothing, dead reckoning is introduced, which specifically includes the following steps:

[0081] S2-1. Using the global magnetic compass heading error correction method in Embodiment 1 to obtain the heading;

[0082] S2-2. Introduce the heading into the dead reckoning to obtain the latitude and longitude values. Among them, the heading angle direction of the underwater unmanned autonomous vehicle involved is defined as positive by north by west, and the range is 0°~360°.

[0083] Preferably, in step S2-2, the calculation formula ...

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Abstract

The invention provides a full-domain magnetic compass course error correcting method and a navigation error correcting method for an autonomous underwater vehicle, and belongs to the technical field of navigation of an AUV. The full-domain magnetic compass course error correcting method includes the steps of: 1) acquiring the course, provided by a magnetic compass, at the present time and the magnetic declination of the AUV in a working domain; 2) according to the course at the present time, calculating semi-circumference error and quadrant error of the magnetic compass, which are generated via hard magnetic field interference; 3) acquiring the circumference error of the magnetic compass, which is caused by soft magnetic field interference and installation error; 4) according to the circumference error, the semi-circumference error and the quadrant error of the magnetic compass, calculating the error of the magnetic compass; and 5) feeding the error, at the present time, of the magnetic compass back to the course at the present time, and performing correction calculation to the course of the magnetic compass with the magnetic declination to acquire corrected course at the present time. The method has low cost, is easy to carry out and has wide adaptable range, and improves the reliability of a navigation error corrected result.

Description

technical field [0001] The invention relates to the technical field of underwater unmanned autonomous vehicle navigation, in particular to a method for correcting heading errors of a global magnetic compass and a method for correcting navigation errors of underwater autonomous vehicles. Background technique [0002] AUV (Autonomous Underwater Vehicle) is an underwater vehicle that can autonomously complete a variety of specific tasks such as underwater detection, attack, delivery, and salvage. It is required to have long-term autonomy underwater. Positioning navigation and return capabilities, and has concealment. In order to ensure that it can solve underwater operations smoothly, higher navigation accuracy requirements are put forward for AUV. The navigation error of underwater unmanned autonomous vehicles directly affects its navigation accuracy. In the past, underwater unmanned autonomous vehicles that used dead reckoning as their navigation algorithm mainly unilaterall...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C17/38
CPCG01C17/38G01C25/00
Inventor 蔡挺杨晶潘常军黄江成陈建峰王英
Owner XIAN TIANHE SEA DEFENSE INTELLIGENT TECH CO LTD
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