Miniature underwater detection robot autonomous navigation system

An autonomous navigation system and underwater robot technology, which is applied in three-dimensional position/channel control and other directions, and can solve the problem of divergence in positioning accuracy of the navigation system

Active Publication Date: 2022-04-22
江苏深瑞光学技术有限公司
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Problems solved by technology

[0009] The purpose of the present invention is to provide a miniature underwater detection robot autonomous navigation system to solve the problem that the error of the existing navigation system will accumulate over time and lead to the divergence of positioning accuracy

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  • Miniature underwater detection robot autonomous navigation system
  • Miniature underwater detection robot autonomous navigation system
  • Miniature underwater detection robot autonomous navigation system

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Embodiment Construction

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0057] The present invention provides such as figure 1 A miniature underwater detection robot autonomous navigation system shown in , including:

[0058] first processor;

[0059] The obstacle avoidance sonar sensing unit is used to detect underwater landforms and scan underwater objects for collision avoidance when the underwater robot is autonomously navigating;

[0060] Magnetometer for obtaining magnetic field strength and direction;

[0061] The inertial...

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Abstract

The invention discloses an autonomous navigation system for a miniature underwater detection robot, and belongs to the technical field of AUV (Autonomous Underwater Vehicle) underwater navigation. The obstacle avoidance sonar sensing unit is used for detecting underwater landforms and scanning underwater objects to avoid collision when the underwater robot performs autonomous navigation; the magnetometer is used for acquiring magnetic field intensity and direction; the inertial measurement unit is used for acquiring a three-axis attitude angle, an angular rate and an acceleration; the data recorder is used for storing measurement results acquired by the obstacle avoidance sonar sensing unit, the magnetometer and the inertial measurement unit; the analog-to-digital converter is used for converting the analog signal into a digital signal; the input and output module is used for inputting and outputting data; the autonomous navigation system for the miniature underwater detection robot does not depend on an external sensor, does not need to arrange a sound wave communication positioning node, does not need to emerge from the water surface to combine GNSS signals, and achieves the purpose of long-time, independent and autonomous underwater navigation.

Description

technical field [0001] The invention belongs to the technical field of AUV underwater navigation, and in particular relates to an autonomous navigation system of a miniature underwater detection robot. Background technique [0002] In recent years, AUV underwater navigation has become the focus and difficulty in the development of underwater positioning technology. After in-depth research by scholars from various countries, initial results have been achieved. Researchers have conducted in-depth research on AUV autonomous navigation and developed a variety of underwater navigation and positioning technologies, mainly including: Inertial Navigation System (INS), Global Navigation Satellite System (GNSS), acoustic positioning System (Acoustic Positioning System, APS), Doppler Velocity Log (DVL), geophysical navigation, these navigation devices have their own advantages and disadvantages; [0003] 1. Inertial navigation, no need for external equipment, errors accumulate over ti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 徐盛果白云李娟张仕颖陶树建陈科祥陆雪
Owner 江苏深瑞光学技术有限公司
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