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Positioning cruise system for underwater helicopter and working method of positioning cruise system

A cruise system and helicopter technology, which is applied in the field of positioning and cruise system of underwater helicopters, can solve problems such as the inability to meet the needs of UUV underwater autonomous positioning and navigation, and the failure to meet expectations, so as to improve high-precision positioning and navigation capabilities, reduce energy consumption, Increase the effect of underwater work time

Active Publication Date: 2021-09-24
ZHEJIANG UNIV
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Problems solved by technology

The existing inverse ultra-short baseline is basically a simple continuation of the traditional ultra-short baseline technology. On this basis, a certain degree of low power consumption and miniaturization improvements have been made to adapt to the use on UUV, but from the actual use effect, it is far from reaching It is expected that it is still unable to meet the increasingly urgent UUV underwater autonomous positioning and navigation needs

Method used

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  • Positioning cruise system for underwater helicopter and working method of positioning cruise system
  • Positioning cruise system for underwater helicopter and working method of positioning cruise system
  • Positioning cruise system for underwater helicopter and working method of positioning cruise system

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Embodiment Construction

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are intended to facilitate the understanding of the present invention, but do not limit it in any way.

[0047] Such as figure 1 As shown, a positioning and cruising system for an underwater helicopter includes a strapdown inertial navigation system 1 , a Doppler odometer speed measurement system 2 , an inverse ultra-short baseline positioning system 3 and a filtering system 4 .

[0048] The strapdown inertial navigation system 1 is composed of three modules: an inertial measurement module 11 , a magnetometer 12 and a computer calculation module 13 . Inertial measurement module 11 measures motion parameters such as angular velocity and acceleration of underwater helicopter relative to seabed space through gyroscope and accelerometer; magnetometer 12 is used to measure the size and direction of the ...

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Abstract

The invention discloses a positioning cruise system for an underwater helicopter and a working method of the positioning cruise system. The positioning cruise system comprises a strapdown inertial navigation system, a Doppler log velocity measurement system, an inverse ultra-short baseline positioning system and a filtering system which are mounted on the underwater helicopter; the strapdown inertial navigation system is used for acquiring three-dimensional speed, position and attitude information of the underwater helicopter; the Doppler log velocity measurement system is used for measuring the absolute velocity of the underwater helicopter; the inverse ultra-short baseline positioning system is used for positioning and navigation and comprises a Doppler compensation module of complex broadband coding, a multi-source servo time synchronization inquiry-free positioning module, a multi-sensor information fusion calibration-free positioning module and a multi-user compatible underwater ad hoc network positioning module; and the filtering system is used for processing signals output by the strapdown inertial navigation system, the Doppler log velocity measurement system and the inverse ultra-short baseline positioning system, so that the navigation precision is improved. According to the invention, the precision of underwater autonomous positioning navigation of the underwater helicopter can be improved.

Description

technical field [0001] The invention belongs to the field of underwater equipment control, and in particular relates to a positioning cruise system for an underwater helicopter and a working method thereof. Background technique [0002] Submarine mobile observation, submarine resource exploration, cruise and detection of sensitive submarine areas, submarine pipeline monitoring and maintenance, submarine rescue and salvage, submarine archaeology, etc., put forward high requirements on the maneuverability and working mode of submersibles, and often need to cooperate with Land "helicopter" features are similar to submersibles. The proposal of "underwater helicopter" helps to improve the maneuverability of submersibles, increase the working mode from seabed to seabed, and carry out seabed operations with higher quality and efficiency. [0003] The underwater helicopter is a new type of submersible with strong maneuverability and a working mode from the seabed to the seabed. It...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/00G01C21/08G01S15/58G01S15/86G01S5/20
CPCG01C21/165G01C21/005G01C21/08G01S15/58G01S15/86G01S5/20
Inventor 冯明月王英强黄善和
Owner ZHEJIANG UNIV
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