UUV deep sea integrated navigation device with dual-Doppler adaptive switching speed measurement and navigation method

An adaptive switching and Doppler speedometer technology, which is applied in directions such as navigation through speed/acceleration measurement, can solve problems such as unsuitable underwater vehicles, and achieve high-precision navigation capabilities, less information, and control commands simple effect

Inactive Publication Date: 2019-01-25
HARBIN ENG UNIV
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Problems solved by technology

Since water is a poor conductor of light and electromagnetic waves, commonly used positioning and navigation methods such as radio navigation and GPS are not suitable for underwater vehicles.

Method used

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  • UUV deep sea integrated navigation device with dual-Doppler adaptive switching speed measurement and navigation method
  • UUV deep sea integrated navigation device with dual-Doppler adaptive switching speed measurement and navigation method
  • UUV deep sea integrated navigation device with dual-Doppler adaptive switching speed measurement and navigation method

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Embodiment Construction

[0029] The following examples describe the present invention in more detail.

[0030] The UUV deep-sea integrated navigation device for dual-Doppler adaptive switching speed measurement of the present invention includes a Doppler speedometer detection module, a Doppler speedometer mode conversion module, a Kalman filter module, a high-frequency convective Doppler speedometer, a low-frequency Ground Doppler Velocimeter, Inertial Navigation System.

[0031] Low frequency Doppler velocimeter (low frequency DVL): 120KHZ Doppler velocimeter has a typical seabed measurement range of about 300-400 meters.

[0032] High frequency convective Doppler velocimeter (high frequency DVL): The convective measurement range of the 1.5MHZ Doppler velocimeter is about 10-20 meters.

[0033] Inertial Navigation System (INS): A navigation system that does not require any external information and does not radiate any information to the outside, and outputs various navigation parameters such as the ...

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Abstract

The invention provides a UUV deep sea integrated navigation device with dual-Doppler adaptive switching speed measurement and a navigation method. The device comprises a Doppler velocity log detectionmodule, a Doppler velocity log mode conversion module, a Kalman filtering module, a high-frequency convection Doppler velocity log, a low-frequency convection Doppler velocity log and an inertial navigation system. According to the device and the method, the stability of a UUV in a trench and during deep sea navigation can be improved, the high-precision navigation capability of an aircraft in alarge-depth sea area is improved, the water outlet correction frequency is reduced, and the navigation requirements of large-range navigation and hidden operation are met. The amount of information needed for judgement of switching of an operation state of the DVL is small, and a control command is simple.

Description

technical field [0001] The invention relates to a UUV (Unmanned Underwater Vehicle, Unmanned Underwater Vehicle) navigation device, and the invention also relates to a UUV navigation method. Background technique [0002] High-precision navigation and positioning is a necessary condition for underwater vehicles to obtain effective information, and it also determines whether they can operate safely and return home. Therefore, high-precision navigation and positioning is one of the key factors to realize the movement and control of underwater vehicles. Since water is a poor conductor of light and electromagnetic waves, commonly used positioning and navigation methods such as radio navigation and GPS are not suitable for underwater vehicles. The Doppler velocity log is an acoustic device made by using the Doppler effect of waves and the principle of flow measurement, which can be used to measure the absolute velocity of the vehicle relative to the ground, the velocity and direc...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 周佳加张强吴迪李娟严浙平
Owner HARBIN ENG UNIV
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