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INS/USBL combined navigation positioning method for AUV docking

A technology that combines navigation and positioning methods, which is used in navigation, navigation, mapping and navigation through speed/acceleration measurement. It can solve the problems of difficult to apply AUV navigation engineering, commercial products with low navigation and positioning accuracy, etc. The effect of high flexibility and versatility, low equipment requirements, and high positioning accuracy

Active Publication Date: 2018-06-12
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

[0003] In order to overcome the low navigation and positioning accuracy of AUV autonomous docking and the difficulty of applying commercial products to AUV navigation engineering, the present invention provides an INS / USBL combined navigation and positioning method for the purpose of AUV autonomous docking

Method used

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  • INS/USBL combined navigation positioning method for AUV docking
  • INS/USBL combined navigation positioning method for AUV docking
  • INS/USBL combined navigation positioning method for AUV docking

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Embodiment Construction

[0029] The present invention will be further described in detail below in conjunction with the examples.

[0030] The invention relates to an INS / USBL combined navigation and positioning method for AUV (Autonomous Underwater Vehicle, autonomous underwater vehicle) docking, which mainly includes the following steps: connecting a USBL (Ultra Short Base Line) transceiver and an INS (Inertial Navigation System) Place the transponder in the AUV carrier and place the transponder at the docking port; by setting two fixed points at a certain distance from the docking port, the AUV can hover at these two points. The longitude and latitude of the hovering point are obtained by INS. AUV and The distance value of the transponder matrix is ​​obtained by USBL; the position of the docking port is obtained according to the position of the AUV and the distance between the AUV transceiver and the transponder; the route is planned according to the position of the docking port to realize the navig...

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Abstract

The invention relates to an INS / USBL combined navigation positioning method for AUV docking. The method comprises the following steps: putting a USBL transceiver and an INS into an AUV carrier, and placing a transponder at a docking port; setting two fixed points in a certain distance from the docking ports, hovering the AUV at the two points, acquiring longitude and latitude of a hovering point by using the INS, and acquiring the distance between the AUV and a transponder matrix by using the USBL; acquiring the position of the docking port according to the position of the AUV and the distancebetween the AUV transceiver and the transponder; planning a route according to the position of the docking port, and implementing navigation positioning of the AUV to the docking port. By adopting the INS / USBL combined navigation positioning method for AUV docking, precise positioning of the AUV to the docking port and real-time docking route planning can be achieved, the cost is low, good engineering applicability is achieved, and technical assurance can be provided for automatic docking and underwater butt joint of automatic underwater vehicles.

Description

technical field [0001] The invention relates to an INS / USBL combined navigation and positioning method for AUV docking. Specifically, the current position information of the AUV obtained by the INS and the current position of the AUV obtained by the USBL are integrated with the distance information of the transponder at the docking port to obtain a The precise location of the dock port and path planning; the main control computer uses the AUV precise path following control method to enable the AUV to accurately navigate along the planned docking path to achieve autonomous docking of the AUV. Background technique [0002] Autonomous docking technology requires AUV to have real-time and accurate positioning capabilities for the docking port when it is relatively close to the docking port. However, when the docking port is not fixed underwater, it is easily affected by the current, and its position will move, and its precise position information is unknown. In view of this, it...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/203
Inventor 张斌马艳彤郑荣于闯
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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