Underwater robot and underwater robot navigation positioning method

Abstract

The embodiment of the invention discloses an underwater robot and an underwater robot navigation and positioning method, which are used for eliminating motion accumulative errors of the underwater robot so as to improve the precision of robot motion navigation and positioning. According to the embodiment of the invention, the method comprises the steps: estimating the global position of an underwater robot in an underwater motion environment according to a magnetic signal and / or an underwater acoustic positioning signal, and correcting a pose estimation result based on a global position estimation result, so that the pose correction result can well eliminate a motion accumulated error, calculating the coordinates of the underwater robot in the map accurately according to the pose correction result, and planning the motion path accurately according to the coordinates. Therefore, the technical problem that a GPS sensor cannot be used for eliminating the motion accumulation error in an underwater long-distance environment is solved, motion navigation positioning of the underwater robot is more accurate and reliable, and the method for eliminating the motion accumulation error has the advantages of being small in data size and high in real-time performance and is low in degree of dependence on computing resources.

Description

technical field [0001] The embodiments of the present application relate to the field of artificial intelligence, and in particular, to an underwater robot and an underwater robot navigation and positioning method. Background technique [0002] Diversion tunnels are widely found in large-scale water conservancy and hydropower projects, and their lengths can reach tens of kilometers. Its structural health is related to the safety of water conservancy facilities, and people need to conduct regular inspection and maintenance of underwater tunnels. Due to the closed underwater environment, manual inspection operations are time-consuming and labor-intensive and have poor safety. For this reason, people began to use robots to inspect underwater tunnels. During the operation of robots, they need to determine their own positions and plan their travel paths, that is, underwater navigation and positioning of robots. [0003] The traditional navigation and positioning method of under...

AI Technical Summary

Problems solved by technology

However, in the environment of long-distance underwater tunnels, the inertial measurement unit will inevitably produce cumulative deviations in pose estimation, which will affect the accuracy of navigation and positioning; the tunnel environment is monotonous, and effective features cannot be obtained from sonar and laser; underwater visibility is difficult to guarantee , the vision sensor may fail

Therefore, it is difficult to meet the navigation and positioning requirements of the robot's high-speed movement in large and long-distance underwater tunnels using traditional underwater robot navigation and positioning methods.

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