Docking recovery integrated navigation method based on improved Gaussian distance iterative algorithm

Abstract

The invention discloses a docking recovery integrated navigation method based on an improved Gaussian distance iterative algorithm. The docking recovery integrated navigation method comprises the following steps: 1) segmenting a track of an AUV into a plurality of connected straight line segments; 2) calculating the coordinate of each position point by utilizing dead reckoning to obtain a coordinate equation set; 3) linearizing the error by using Taylor series expansion, setting a position initial value and an iteration threshold of the AUV, solving a correction amount of the AUV position by using a least square method, comparing the correction amount with the iteration threshold, and stopping iteration if the correction amount is less than the iteration threshold; 4) if the correction amount is greater than an iteration threshold, updating the step length by adopting a trust region method to continue iteration; 5) solving the coordinate of the last point of the straight line segment as the initial point of the next straight line segment, and repeating the above steps for iteration. The method can effectively correct the speed and position errors of the AUV, enables the whole system to have higher filtering precision and stability, and provides guarantee for the safe recovery of the AUV.

Description

technical field [0001] The invention relates to a navigation method, in particular to a combined navigation method based on an improved Gaussian distance iterative algorithm. Background technique [0002] The ocean, which covers 70% of the earth's area, is rich in resources, but the current methods for human exploration of the ocean are limited and expensive. As an important tool for developing the ocean, underwater robots are the key to opening the door to the ocean. The autonomous underwater robot AUV carries its own power supply and equipment, and does not need to rely on the mother ship to supply power through cables. It can transmit information to the mother ship through communication methods such as signal optical cables, acoustic communication, or satellite communication. Due to the advantages of small size, wide range of activities, and high concealment, AUV can independently complete marine tasks, and has become a research hotspot in various countries. It is precis...

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Problems solved by technology

The patent document with the application number CN201611201932.8 discloses "a target positioning and identification method", which mainly uses magnetic anomaly technology for measurement, but its method requires a high signal-to-noise ratio. For the actual magnetic anomaly signal, its The convergence speed and convergence cannot be guaranteed, it is difficult to carry out practical application, and it is not suitable for large-scale application

The patent document with the application number CN201910455748.3 discloses "a target positioning algorithm based on the distance and bearing dictionary", which establishes different distance-bearing joint dictionaries for different environments. Although the distance and bearing of the target can be jointly estimated, the calculation The process is too complicated, the accuracy of real-time and state estimation is not high, and problems such as divergence are prone to occur

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