阅读说明：本技术 一种基于多方法融合的深水高精度导航定位技术 (Deep water high-precision navigation positioning technology based on multi-method fusion ) 是由 刘跃进 宋建军 邵瑛 丰飞 康婷婷 于 2021-05-12 设计创作，主要内容包括：本发明提供一种基于多方法融合的深水高精度导航定位技术,涉及深海探测技术领域。该基于多方法融合的深水高精度导航定位技术,包括水声定位系统、惯性导航系统、地图匹配定位系统和多传感器数据融合定位系统,对水声定位系统、惯性导航系统、地图匹配定位系统和多传感器数据融合定位系统进行连接融合,在使用前需要通过多普勒计程仪、压力传感器对惯性导航系统进行初步的修正,水声定位系统由基阵、换能器、水下应答器组成。通过多方法融合,使得水下导航可以克服深水环境的影响,提高了导航定位的可靠性,并且通过信息融合的方法实现高效、高精度、高可靠性的水下导航定位,指导水下机器人完成各种复杂任务。(The invention provides a deep water high-precision navigation positioning technology based on multi-method fusion, and relates to the technical field of deep sea detection. The deepwater high-precision navigation positioning technology based on multi-method fusion comprises an underwater sound positioning system, an inertial navigation system, a map matching positioning system and a multi-sensor data fusion positioning system, wherein the underwater sound positioning system, the inertial navigation system, the map matching positioning system and the multi-sensor data fusion positioning system are connected and fused, the inertial navigation system needs to be preliminarily corrected through a Doppler log and a pressure sensor before use, and the underwater sound positioning system comprises a basic array, a transducer and an underwater transponder. By means of fusion of multiple methods, the underwater navigation can overcome the influence of a deep water environment, the reliability of navigation positioning is improved, and the underwater navigation positioning with high efficiency, high precision and high reliability is realized by means of the information fusion method, so that the underwater robot is guided to complete various complex tasks.)

1. A deep water high-precision navigation positioning technology based on multi-method fusion is characterized in that: the underwater sound positioning system is connected and fused with the underwater sound positioning system, the inertial navigation system, the map matching positioning system and the multi-sensor data fusion positioning system, the underwater sound positioning system is composed of a matrix, an energy converter and an underwater transponder, underwater positioning is carried out by measuring the propagation time or phase difference of sound wave signals, and information measured by the underwater sound positioning system can be used as input of information fusion and provides reference data for correction of accumulated errors of the inertial navigation system.

2. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 1, characterized in that: the deep water high-precision navigation positioning technology based on multi-method fusion mainly comprises the steps of realizing communication between ground equipment and an energy converter through a cable, realizing information communication between the energy converter and a transponder by taking sound waves as carriers, finishing communication between water and underwater through cooperative work of the water equipment and the underwater equipment, and realizing high-precision real-time navigation positioning.

3. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 1, characterized in that: the inertial navigation system comprises an inertial measurement unit and a signal preprocessing and mechanical mechanics arrangement module, wherein the inertial measurement unit mainly comprises 3 mutually-orthogonal single-axis accelerometers and 3 mutually-orthogonal single-axis gyroscopes.

4. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 3, characterized in that: the working principle of the inertial navigation measuring unit is as follows: the inertial navigation system is a navigation parameter calculation system using a gyroscope and an accelerometer as sensing elements, data information is acquired through an inertial measurement unit consisting of the gyroscope and the accelerometer, the sum of absolute acceleration and gravitational acceleration of a carrier relative to an inertial space is measured through the accelerometer, position information of the speedometer is output after the accelerometer coordinate system projection transformation, gravity compensation and speed and position integral calculation, the gyroscope can acquire angular acceleration signals of the carrier relative to the inertial coordinate system, and attitude information is output after the attitude integral calculation.

5. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 1, characterized in that: the working principle of the map matching positioning system is as follows: the high-precision map is a basis for map matching, comprises features used for map matching, can judge the approximate position of the underwater robot by using an underwater sound positioning system and an inertial navigation system, determines the local search range of the map matching, judges the posture of the underwater robot by using the inertial navigation system, guides the map matching by posture information, generates real-time point cloud data based on sensing information, converts the point cloud data and the high-precision map information into the same coordinate system for matching, and can confirm the positioning information after the matching is successful.

6. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 1, characterized in that: the input information of the multi-sensor data fusion positioning system mainly comes from an inertial navigation system, an underwater sound positioning system and a map matching positioning system, fusion of multi-sensor data is realized through a data fusion algorithm, state estimation is completed, and reliable navigation positioning information is output.

7. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 1, characterized in that: the inertial navigation system can be divided into a platform type inertial navigation system and a strapdown type inertial navigation system according to different mechanical arrangement forms.

8. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 1, characterized in that: the map matching positioning system is used for constructing an underwater high-precision map by using a visual sensor and a sonar sensor, generating three-dimensional point cloud data after the sensors continuously acquire information, and generating the high-precision map for navigation and positioning through the processes of front end, back end, loop detection and the like.

9. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 1, characterized in that: the high-precision navigation positioning technology needs to primarily correct an inertial navigation system through a Doppler log and a pressure sensor before use.

10. The deep water high-precision navigation and positioning technology based on multi-method fusion as claimed in claim 1, characterized in that: the single-axis gyroscope is a single-axis yaw MEMS gyroscope.

Technical Field

The invention relates to the technical field of deep sea exploration, in particular to a deep water high-precision navigation positioning technology based on multi-method fusion.

Background

The navigation positioning technology plays an important role in a deep sea detection technology system, and directly reflects the accuracy and safety of underwater operation. With the continuous development of deep sea detection technology, the underwater navigation and positioning technology is also continuously improved, and technologies such as inertial navigation, acoustic navigation, marine geophysical navigation and the like are continuously applied and improved.

The inertial navigation data updating rate is high, the navigation information delay is low, the system is stable and not easy to be interfered, and the navigation positioning precision is high in short time. However, as time and distance increase, the accumulated error of the inertial navigation system gradually increases until the inertial navigation system cannot be used due to the excessive error. Therefore, in actual use, the inertial navigation system needs to be corrected regularly by other means, the accumulated error of the inertial navigation can be effectively corrected by using the GPS method, but the underwater robot needs to continuously float out of the water surface, so that the operation efficiency is influenced, and some military robots cannot be concealed. At present, acoustic navigation is widely applied to the field of deep sea detection, the defects of an inertial navigation system can be avoided, regular correction is not needed, and the operation efficiency is effectively improved. This technique also has some unavoidable drawbacks, long baseline underwater positioning, although relatively accurate, is costly to arrange and difficult to maintain. Compared with the long baseline positioning, the short baseline positioning has the problems of reduced accuracy and cost, difficult installation and calibration and the like. The ultra-short baseline positioning method has low cost and convenient installation and maintenance, but has the defect of insufficient positioning precision, thereby limiting the large-scale application of the technology. The marine geophysical navigation is a current research hotspot, and the related technology makes certain breakthrough, and has the characteristics of real time, continuity, accuracy, safety, concealment, complete autonomy and the like. The method is mainly applied to the military field, and is not mature in the civil field at present.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a deep water high-precision navigation positioning technology based on multi-method fusion, and solves the problems of the underwater navigation positioning technology.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a deepwater high-precision navigation positioning technology based on multi-method fusion comprises an underwater sound positioning system, an inertial navigation system, a map matching positioning system and a multi-sensor data fusion positioning system, wherein the underwater sound positioning system, the inertial navigation system, the map matching positioning system and the multi-sensor data fusion positioning system are connected and fused, the inertial navigation system needs to be preliminarily corrected through a Doppler log and a pressure sensor before being used, the underwater sound positioning system consists of a base array, a transducer and an underwater transponder, underwater positioning is carried out by measuring the propagation time or phase difference of sound wave signals, information measured by the underwater sound positioning system can be used as input of information fusion to provide reference data for correcting the accumulated error of the inertial navigation system, the map matching positioning system is used for constructing an underwater high-precision map by using a visual sensor and a sonar sensor, the sensor continuously collects information to generate three-dimensional point cloud data, a high-precision map for navigation and positioning is generated through the processes of front end, rear end, loop detection and the like, the high-precision map is constructed as a basis for map matching, the approximate position of the underwater robot can be determined through an underwater acoustic positioning system and an inertial navigation system, and the local search range is narrowed. Under the condition that the attitude information of the underwater robot is known, real-time data of a sensor and pre-made high-precision map data are converted into the same coordinate system to be matched, the position information of the underwater robot can be obtained after the matching is successful, input information of the multi-sensor data fusion positioning system mainly comes from an inertial navigation system, an underwater sound positioning system and a map matching positioning system, the fusion of the data of the multiple sensors is realized through a data fusion algorithm, the state estimation is completed, and reliable navigation positioning information is output, the fusion of the information of the multiple sensors is the premise of realizing the fusion of the multiple positioning systems, and the multiple sensors independently obtain the information and then perform multi-level, multi-azimuth and multi-level processing to generate the optimal cooperative information, so that the effect which cannot be realized by a single sensor is achieved.

Preferably, the multi-method fusion-based deepwater high-precision navigation positioning technology mainly comprises the steps of realizing communication between ground equipment and a transducer through a cable, realizing information exchange between the transducer and a transponder by taking sound waves as carriers, finishing communication between the water and the water through cooperative work of the water equipment and the water equipment, and realizing high-precision real-time navigation positioning.

Preferably, the inertial navigation system comprises an inertial measurement unit, a signal preprocessing and mechanical mechanics arrangement module, the inertial measurement unit mainly comprises 3 mutually orthogonal single-axis accelerometers and 3 mutually orthogonal single-axis gyroscopes, and the inertial navigation system can be divided into a platform type inertial navigation system and a strapdown type inertial navigation system according to different mechanical mechanics arrangement forms.

Preferably, the inertial navigation measurement unit has the working principle that: the inertial navigation system is a navigation parameter calculation system using a gyroscope and an accelerometer as sensing elements, data information is acquired through an inertial measurement unit consisting of the gyroscope and the accelerometer, the sum of absolute acceleration and gravitational acceleration of a carrier relative to an inertial space is measured through the accelerometer, position information of the speedometer is output after the accelerometer coordinate system projection transformation, gravity compensation and speed and position integral calculation, the gyroscope can acquire angular acceleration signals of the carrier relative to the inertial coordinate system, and attitude information is output after the attitude integral calculation.

Preferably, the map matching positioning system has the working principle that: the high-precision map is a basis for map matching, comprises features used for map matching, can judge the approximate position of the underwater robot by using an underwater sound positioning system and an inertial navigation system, determines the local search range of the map matching, judges the posture of the underwater robot by using the inertial navigation system, guides the map matching by posture information, generates real-time point cloud data based on sensing information, converts the point cloud data and the high-precision map information into the same coordinate system for matching, and can confirm the positioning information after the matching is successful.

(III) advantageous effects

The invention provides a deep water high-precision navigation positioning technology based on multi-method fusion. The method has the following beneficial effects:

the underwater positioning system with the multi-method fusion can effectively avoid the defects that the underwater sound positioning system is low in updating frequency, relatively poor in real-time performance, easy to be influenced by the environment, and possibly interfered in signal transmission when the robot is shielded by an obstacle. The inertial navigation system has high information updating speed, can provide continuous and high-precision positioning information within a certain time, but the error of the inertial navigation system is accumulated along with the running time of the system, so that the navigation is invalid. The map matching positioning system can provide high-precision positioning information, but with the increase of the map information, the search area will be increased, so that the defects of the reduction of the matching efficiency and the like are caused, and the underwater navigation positioning with high efficiency, high precision and high reliability can be realized by the information fusion method, so as to guide the underwater robot to complete various complex tasks.

The navigation positioning precision of the invention can not be realized by other single navigation methods, and the underwater navigation positioning precision can reach centimeter level. In the aspect of navigation real-time performance, the method has better performance and completely meets the navigation positioning requirements of the underwater robot on high precision and high real-time performance. By means of fusion of multiple methods, the influence of a deep water environment can be overcome in underwater navigation, and the reliability of navigation and positioning is improved. On the premise of achieving the same navigation precision, the map matching efficiency is far higher than that of a map matching positioning system using a single method, and the high efficiency of the method is shown.

Drawings

FIG. 1 is a schematic diagram of an underwater navigation system positioning system based on multi-method fusion according to the present invention;

FIG. 2 is a schematic diagram of the main modules of the inertial navigation system of the present invention;

FIG. 3 is a schematic diagram of the inertial navigation measurement unit of the present invention;

FIG. 4 is a schematic diagram of the map information based matching location of the present invention;

FIG. 5 is a flowchart of a map matching location method of the present invention;

FIG. 6 is a schematic diagram of a method for constructing a synchronous positioning map according to the present invention;

FIG. 7 is a diagram of the hardware and data transmission of the navigation positioning system based on multi-method fusion according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

as shown in figures 1-7, the embodiment of the invention provides a deepwater high-precision navigation positioning technology based on multi-method fusion, which comprises an underwater sound positioning system, an inertial navigation system, a map matching positioning system and a multi-sensor data fusion positioning system, wherein the underwater sound positioning system, the inertial navigation system, the map matching positioning system and the multi-sensor data fusion positioning system are connected and fused, the inertial navigation system needs to be preliminarily corrected through a Doppler log and a pressure sensor before use, the underwater sound positioning system consists of a matrix, a transducer and an underwater responder, underwater positioning is carried out by measuring the propagation time or phase difference of sound wave signals, information measured by the underwater sound positioning system can be used as input of information fusion and provides reference data for accumulated error correction of the inertial navigation system, and the map matching positioning system uses vision, The sonar sensor constructs an underwater high-precision map, the sensor continuously collects information to generate three-dimensional point cloud data, the high-precision map for navigation and positioning is generated through the processes of front end, rear end, loop detection and the like, the input information of the multi-sensor data fusion positioning system mainly comes from an inertial navigation system, an underwater sound positioning system and a map matching positioning system, the fusion of the multi-sensor data is realized through a data fusion algorithm, the state estimation is completed, and reliable navigation positioning information is output.

The deep water high-precision navigation positioning technology based on multi-method fusion mainly comprises the steps of realizing communication between ground equipment and an energy converter through a cable, realizing information communication between the energy converter and a transponder by taking sound waves as carriers, finishing communication between water and underwater through cooperative work of water equipment and underwater equipment, and realizing high-precision real-time navigation positioning.

The inertial navigation system comprises an inertial measurement unit, a signal preprocessing and mechanical arrangement module, wherein the inertial measurement unit mainly comprises 3 mutually orthogonal single-axis accelerometers and 3 mutually orthogonal single-axis gyroscopes, and can be divided into a platform type inertial navigation system and a strapdown type inertial navigation system according to different mechanical arrangement forms.

The working principle of the inertial navigation measuring unit is as follows: the inertial navigation system is a navigation parameter calculation system using a gyroscope and an accelerometer as sensing elements, data information is acquired through an inertial measurement unit consisting of the gyroscope and the accelerometer, the sum of absolute acceleration and gravitational acceleration of a carrier relative to an inertial space is measured through the accelerometer, position information of the speedometer is output after the accelerometer coordinate system projection transformation, gravity compensation and speed and position integral calculation, the gyroscope can acquire angular acceleration signals of the carrier relative to the inertial coordinate system, and attitude information is output after the attitude integral calculation.

The working principle of the map matching positioning system is as follows: the high-precision map is a basis for map matching, comprises features used for map matching, can judge the approximate position of the underwater robot by using an underwater sound positioning system and an inertial navigation system, determines the local search range of the map matching, judges the posture of the underwater robot by using the inertial navigation system, guides the map matching by posture information, generates real-time point cloud data based on sensing information, converts the point cloud data and the high-precision map information into the same coordinate system for matching, and can confirm the positioning information after the matching is successful.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.