Integrated navigation and positioning system and method for submarine oil-gas pipe detection robot

Abstract

The invention belongs to the technical field of navigation and provides an integrated navigation and positioning system and method for a submarine oil and gas pipe detection robot. The integrated navigation and positioning system mainly comprises a differential GPS system, an ultra-short baseline positioning system (USBL), a strapdown inertial navigation system (SINS), a Doppler log (DVL) and thelike. The differential GPS system accurately positions geographic position coordinates of a surface vessel; the ultra-short baseline positioning system determines a three-dimensional vector position of the underwater unmanned aerial vehicle relative to the water surface unmanned ship; the strapdown inertial navigation system detects the real-time course and attitude of the underwater unmanned vehicle; and the Doppler log detects the absolute running speed of the underwater unmanned vehicle. The SINS and the DVL are combined to realize short-time high-precision positioning of the underwater unmanned vehicle, and the differential GPS and the USBL are combined to realize absolute positioning of the underwater unmanned vehicle; the long-endurance and long-voyage high-precision positioning of the underwater unmanned vehicle is realized, and the accurate position information is provided. The invention further provides a combined positioning method of various navigation instruments, and a solution is provided for underwater high-precision combined navigation.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a combined navigation and positioning system and method for a submarine oil and gas pipeline detection robot. Background technique [0002] Submarine pipelines are important offshore oil and gas field production facilities. Once leakage or damage occurs, resources will be wasted at least, and explosions will occur due to leakage of crude oil or natural gas, causing casualties and property losses. Therefore, the detection of submarine oil and gas pipelines is of great significance, and it should be highly valued both from the perspective of economic development and environmental protection. The submarine oil and gas pipeline inspection robot uses underwater robots as a carrier, equipped with a variety of professional inspection equipment, to support ships and other operating platforms, and successfully complete the inspection of submarine pipelines. With the develo...

AI Technical Summary

Problems solved by technology

[0003] At present, the mature underwater integrated navigation method is mainly the integrated navigation of strapdown inertial navigation system (SINS) and GPS satellite navigation system, and Doppler log (DVL), but this method requires the submarine oil and gas pipeline inspection robot to continuously surface Position correction through GPS severely limits the efficiency of subsea oil and gas pipeline detection

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