Deep-water intelligent navigation method based on water velocity assisted inertial navigation

Abstract

The invention discloses a deep-water intelligent navigation method based on water velocity assisted inertial navigation. Measures from aspects of acoustic information pretreatment, a water velocity assisted inertial navigation system and the like are taken so as to solve the related problems of poor reliability of acoustic information caused by acoustic measurement and a marine environment and large accumulated navigation errors when an autonomous underwater vehicle (AUV) is too far away from the seabed without Doppler velocity log (DVL) ground velocity assistance and the like. The deep-waterintelligent navigation method particularly comprises the steps that (1) based on a motion constraint idea, rudder, fin and paddle change information is introduced to preprocess the acoustic information to improve the credibility of the acoustic information; (2) a virtual speed log scheme is introduced, a delay-free HMM/KF filter is designed, and the velocities of a DVL and an inertial navigation system (INS) are comprehensively processed to reduce DVL velocity errors and INS long-period errors caused by AUV bumpy swing, acceleration and deceleration and turning; and (3) a graph optimization algorithm is adopted, nonlinear optimization is used for controlling the error level, and a recursive method is utilized to marginalize and optimize to realize real-time composition so as to improve navigation accuracy.

Description

technical field [0001] The invention relates to the field of intelligent navigation of underwater vehicles, in particular to a deep water intelligent navigation method based on water velocity assisted inertial navigation. Background technique [0002] The ocean is the second largest space after the land in the four major strategic spaces of human development. It is a strategic development base for energy, biological resources, metal resources, and water resources, and it has a huge supporting role in economic and social development. Extensive and in-depth exploration and development of the ocean has become one of the development themes in the 21st century. The country has also raised "caring for the ocean, understanding the ocean, and managing the ocean" to an unprecedented strategic height, and carried out in-depth development of "two oceans and one sea", "two oceans and one sea", " Programs such as "Transparent Ocean" and "Healthy Ocean" have built a marine environment sec...

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Problems solved by technology

[0006] The present invention proposes a deep-water intelligent navigation method based on water velocity assisted inertial navigation. It intends to take measures from the aspects of acoustic information preprocessing and water velocity assisted inertial navigation system to solve the acoustic information caused by acoustic measurement and marine environment. Poor reliability, and related problems such as large navigation accumulation error when DVL assists water speed

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