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Multi-sensor tunnel positioning system and positioning method thereof

A multi-sensor, positioning system technology, applied in instrumentation, navigation, mapping and navigation, etc., to achieve the effect of reducing equipment cost

Pending Publication Date: 2018-05-04
杭州爱易特智能技术有限公司 +2
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the defect that the existing tunnel robot cannot realize accurate positioning in the tunnel, thereby providing a multi-sensor positioning system and tunnel positioning method based on ranging sonar, depth gauge and attitude sensor

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  • Multi-sensor tunnel positioning system and positioning method thereof
  • Multi-sensor tunnel positioning system and positioning method thereof
  • Multi-sensor tunnel positioning system and positioning method thereof

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with drawings and embodiments.

[0038] refer to figure 1 The invention provides an underwater multi-sensor positioning system for a tunnel, including: the distance information from the sonar to the cave wall can be obtained by using the ranging sonar; the prime angle information of the robot can be obtained by using the attitude sensor; depth information.

[0039] Combine below Figure 2-6The working process of the underwater multi-sensor tunnel positioning method of the present invention will be described.

[0040] Tunnel direction characteristic signal extraction:

[0041] refer to figure 2 , using four ranging sonars at the bow and tail of the robot to measure the distance information from the sonar to the wall, and average the distance information of the four ranging sonars before and after, so as to suppress the impact caused by the movement of the robot in the pipeline. Interference genera...

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Abstract

The invention relates to a multi-sensor tunnel positioning system and a method thereof. The system mainly comprises three main modules, including a distance measurement sonar, an attitude sensor and adepthometer, wherein the distance measurement sonar is used for obtaining information of distance from the distance measurement sonar to the tunnel wall; the attitude sensor is used for obtaining information of heading angles of a robot; the depthometer is used for obtaining information of depth of the robot in water. The invention also relates to a tunnel positioning method. The tunnel positioning method comprises the following steps: dividing directions of the tunnel into 9 types such as uphill, downhill, horizontal, forward, leftward, rightward, aperture shrinkage, aperture expansion and aperture invariability; the directions in the tunnel can be totally divided into 27 types according to arrangement and combination of the directions; finding the actual direction type existing in the tunnel from the 27 types of directions according to map information of the tunnel; processing data by the sensor, defining and extracting properties of the tunnel direction information, building a tunnel direction identification model based on a support vector machine, identifying the characteristic position of the robot in the tunnel and achieving the positioning function of the robot in the tunnel.

Description

technical field [0001] The invention relates to the field of underwater positioning, in particular to an underwater multi-sensor positioning system and a positioning method for a robot in a tunnel. Background technique [0002] With the rapid development of automatic control, electronic computer and energy technology, the application of underwater intelligent vehicles is becoming more and more extensive. The realization of underwater autonomous positioning is a key to the underwater activities of underwater intelligent vehicles. In order to ensure the navigation and positioning of underwater intelligent vehicles, most underwater intelligent vehicles will be equipped with strapdown inertial navigation systems and Doppler logs for ship position reckoning. [0003] The strapdown inertial navigation system installs the accelerometer and gyroscope directly on the carrier, the angular velocity information of the gyroscope sensitive carrier, and the specific force information of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 陈舟张国成庞硕曹建石磊盛明伟孙玉山王浩军任健封飞翔赖勇胡能永韩冰张永进张涛
Owner 杭州爱易特智能技术有限公司
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