Underwater integrated navigation information fusion method and system and autonomous underwater vehicle

Abstract

The invention belongs to the technical field of underwater positioning, and discloses an underwater integrated navigation information fusion method and system, and an autonomous underwater vehicle; the method comprises the steps: obtaining the posture, speed and position related information of a carrier through an SINS navigation technology; obtaining external speed information by using a DVL navigation technology; acquiring external position information by using an AST navigation technology; fusing the acquired attitude, speed, position related information, external speed information and external position information of the carrier by using a filtering algorithm, and outputting fused navigation information. According to the invention, long-endurance and long-voyage navigation positioningcan be realized, and errors in the positioning process can be corrected and inhibited. The method can effectively suppress the influence of the observation outliers on the filtering result, and has better data stability. Meanwhile, a test result preliminarily shows that compared with a TFKF algorithm, the FRKF algorithm provided by the invention has higher integrated navigation precision and stability in a non-Gaussian environment.

Description

technical field [0001] The invention belongs to the technical field of underwater positioning, and in particular relates to an underwater integrated navigation information fusion method, system and autonomous underwater vehicle. Background technique [0002] At present, high-precision and high-reliability underwater navigation and positioning technology plays an important role in the development strategy of autonomous underwater vehicles (Autonomous Underwater Vehicles, AUVs). AUV has the advantages of large range of activities, good maneuverability, safety and flexibility, intelligence, and good concealment. It is currently the main development direction of underwater vehicles. AUV successfully completes the mission and meets the requirements of the scheduled mission, which is inseparable from the strong support of underwater navigation and positioning technology. Underwater navigation and positioning technology is the key technology to promote the development and applicati...

AI Technical Summary

Problems solved by technology

[0020] In the above methods, there are currently existing problems: 1) AUV has the risk of exposing the target by floating up or using buoys to obtain position information;

[0021] 2) The matching of marine physical fields is still in the theoretical research stage at this stage, and major problems such as accurately establishing geophysical databases and detecting geophysical parameters have not been effectively resolved, and the construction of marine physical fields cannot meet the needs of practical applications;

[0022] 3) Underwater DVL speed measurement is susceptible to interference from the external complex environment, and cannot guarantee continuous high-precision speed measurement;

[0023] 4) The deployment cost of the underwater acoustic positioning system is high, especially in the far sea and deep sea, it is more difficult to deploy

[0024] To sum up, the problems existing in the prior art are: 1) The existing underwater single positioning method has a short duration, and the positioning accuracy is not high and the error is large

[0025] (2) The existing underwater combined positioning method has the risk of exposing the target, is easily disturbed by the external complex environment, and cannot guarantee continuous high-precision speed measurement; and the cost is high and the difficulty is great

With the rapid development of underwater navigation and positioning technology, a single navigation sensor cannot meet the needs of AUV for high-precision and reliable navigation information due to its own reasons. Therefore, the navigation information output by multiple navigation sensors is effectively fused to solve the above problems. , can improve the navigation positioning accuracy and fault tolerance of the navigation system, can realize the long-duration, long-range high-precision and low-error navigation of underwater AUVs, can solve the risk of exposing targets in the existing underwater integrated navigation and positioning methods, and realize AUV Long-range endurance and concealed long-endurance work

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