CN102809375A - System and method for sensing and computing underwater navigation and water quality parameter longitude and latitude distribution - Google Patents
System and method for sensing and computing underwater navigation and water quality parameter longitude and latitude distribution Download PDFInfo
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Abstract
The invention discloses a system and method for sensing and computing underwater navigation and water quality parameter longitude and latitude distribution. The system comprises a sonar navigation module, a computer data processing center and a sensor data testing module. In the method, current speed, position and depth of an autonomous underwater vehicle are tracked and measured by the sonar navigation module and a carrier inertial navigation system and are compared to obtain difference values, the difference values are treated by a filter through information fusion and then fed back to the carrier inertial navigation system, so that accurate position information is acquired and output to a built-in computer of the AUV(autonomous underwater vehicle); the sensor data testing module sends the measured water quality parameters to the built-in computer of the AUV to analyze; and by the built-in computer of the AUV, longitude and latitude of main character areas of the AUV in underwater navigation and water quality parameter information corresponding to the longitude and latitude are stored in a database, and the longitude and latitude are matched with the parameters one by one and then displayed on a Density Map.
Description
Technical field
The present invention relates to sensing and computing system and method that a kind of underwater navigation and water quality parameter longitude and latitude distribute; Be specifically related to be loaded in the underwater navigation equipment on the underwater robot (AUV) based on the side-scan sonar formula; The enroute chart under water of track and localization AUV; And utilize sensor to calculate water quality parameter at specific longitude and latitude, at last with the method for water quality parameter and longitude and latitude coupling.
Background technology
Current society, environmental problem has become one of major issue of human social.Water resource pollution is an environmental pollution part.Water is the basis that the mankind depend on for existence, and how carrying out water quality detection timely and effectively and in reasonable time, taking to remedy remedial measures is one of important measures of protection water resource.Underwater robot (AUV) is because of it can carry out for a long time in the water surface and following certain degree of depth thereof of circumstance complication for a long time, water quality detection on a large scale, and is simple to operate, and it is few and used admirably to be equipped with the staff.
The key problem that the water quality detection system of underwater robot will solve is underwater navigation, obtains the course line route of robot and the longitude and latitude of each time period, and obtains the multiple water quality parameter of specific longitude and latitude through sensor.Single airmanship exists the longitude and latitude measuring accuracy low, the phenomenon that reliability and fault-tolerance are relatively poor.Add that underwater environment is changeable, navigation error increases with the increase of AUV operating range easily in time, finally causes the AUV bearing accuracy low, the required water quality parameter of regions before can't obtaining.
In addition, traditional water quality detection method is: obtain the several sampled points of the water surface, and data such as the water temperature of record sensor test, turbidity, blue-green algae, chlorophyll a, dissolved oxygen DO, PH, ORP, each regional water quality condition is analyzed in tabulation then.This method lacks the macroanalysis notion to specific bodies of water environment, and the longitude and latitude of various water quality parameters is distributed and from now on development trend is difficult to hold and prediction.
Comprehensive above-mentioned present Research the present invention proposes a kind of sensing and computing system and method that distributes based on the underwater navigation and the water quality parameter longitude and latitude of digital side-scan sonar formula, can solve the problem that present stage exists largely.
Summary of the invention
Goal of the invention: technical matters to be solved by this invention is can't be with obtaining through the GPS location to the following environmental information of the water surface; Existing navigation error random device people hours underway increases and strengthens, and the shortcoming that the water quality parameter degree of accuracy that is detected reduces provides a kind of underwater navigation of digital side-scan sonar formula and sensing and the computing system that the water quality parameter longitude and latitude distributes; And adopt based on the method for multiple navigator to robot underwater navigation speed, position, orientation coordination track and localization; And the combining adaptive navigation algorithm, information fusion is handled, accurately arrive the zone that needs test; Obtain each water quality parameter of this longitude and latitude; Longitude and latitude and water quality parameter mate one by one the most at last, with the Density Map software display result that gets directly perceived, realize the comprehensive multianalysis of water quality parameter in the specific region.Native system is applicable to places such as environmental monitoring, water conservancy hydrologic monitoring monitoring.
Technical scheme: sensing and computing system that a kind of underwater navigation and water quality parameter longitude and latitude distribute, mainly form by sonar navigation module, computer data processing enter and sensing data test module; Said sonar navigation module comprises lift-launch formula inertial navigation system, filter information emerging system and a plurality of sensor; Said computer data processing enter comprises the built-in computing machine of AUV; Said sensing data test module comprises the A/D modular converter;
Said sonar navigation module is obtained speed, orientation, the degree of depth of current underwater robot through sensor; And relatively get difference with carrying formula inertial navigation system measured speed, orientation, degree of depth result, speed, orientation, degree of depth three's difference information is delivered to the filter information emerging system; Said speed, orientation, degree of depth three's difference information feeds back to lift-launch formula inertial navigation system after the filter information emerging system is handled, thereby repairs speed, orientation, the depth information of lift-launch formula inertial navigation system; The lift-launch formula inertial navigation system of said sonar navigation module will be passed through the built-in computing machine of AUV that speed, orientation, the depth information repaired after superposeing are sent to the computer data processing enter; Said sensing data test module obtains the water quality parameter of setting longitude and latitude, and said water quality parameter is sent to the built-in computing machine of AUV afterwards through the conversion of A/D modular converter; The built-in computing machine of said AUV matees longitude and latitude and water quality parameter, and matching structure is presented on the Density Map software through data analysis.
Said sensor comprises that Doppler log, electronic compass, side sweep image sonar and depth transducer; Said Doppler log is measured the speed of underwater robot, and electronic compass is measured the orientation of underwater robot, and side is swept the image sonar and utilized the sift feature extracting method to obtain the underwater robot orientation and the degree of depth, and depth transducer obtains the current degree of depth of underwater robot.
Said filter information emerging system comprises senior filter and subfilter; The corresponding sensor of said each subfilter, subfilter adopts the Kalman filter structure, be used for to sensor acquisition to data carry out filtering, and send to senior filter, improve navigation performance; Said senior filter is the center-filter that is used for information fusion and processing, the data message that each sub-filters of its receiving front-end transmits: longitude and latitude, orientation, depth data, and with the concrete submarine site of further correction and definite current robot.
Sensing and computing method that a kind of underwater navigation and water quality parameter longitude and latitude distribute comprise the steps:
Step 1; Through sonar navigation module and the formula of lift-launch inertial navigation system underwater robot present speed, orientation and the degree of depth are followed the trail of measurement; And with the sonar navigation module with carry underwater robot present speed, orientation and the depth ratio that the formula inertial navigation system measures and get difference; And present speed, orientation and the degree of depth of underwater robot carried out error correction, obtain comparatively accurate position; And output to the built-in computing machine of AUV;
Step 2, the sensing data test module converts the water quality parameter of measuring to digital signal through the A/D modular converter, supplies the built-in Computer Analysis of AUV to handle;
Step 3; The built-in computing machine of AUV is with the longitude and latitude in the principal character zone of underwater robot navigation and the water quality parameter information of corresponding longitude and latitude; Be accessed in the database, longitude and latitude and parameter are mated one by one, on DensityMap, mark with different colours again according to different concentration.
Beneficial effect: compared with prior art; Sensing and computing system and method that underwater navigation provided by the invention and water quality parameter longitude and latitude distribute; Adopting self-aid navigation system under water to carry out water quality parameter detects; Use the adaptive error adjustment algorithm to strengthen the bearing accuracy of underwater robot, longitude and latitude and water quality parameter mate one by one the most at last, with the Density Map software display result that gets directly perceived.Total system only needs simple to operate, can well be used in environmental administration or water conservancy research institute.
Description of drawings
Fig. 1 is the system chart of the embodiment of the invention;
Fig. 2 is the lift-launch formula inertial navigation unit algorithm principle figure of the embodiment of the invention;
Fig. 3 is the sift feature extraction algorithm flow chart of steps of the embodiment of the invention;
Fig. 4 is the filter information fusion treatment process flow diagram of the embodiment of the invention;
Fig. 5 is the computer data processing flow chart of the embodiment of the invention.
Embodiment
Below in conjunction with specific embodiment; Further illustrate the present invention; Should understand these embodiment only be used to the present invention is described and be not used in the restriction scope of the present invention; After having read the present invention, those skilled in the art all fall within the application's accompanying claims institute restricted portion to the modification of the various equivalent form of values of the present invention.
As shown in Figure 1, sensing and computing system that underwater navigation and water quality parameter longitude and latitude distribute are made up of three big modules: sonar navigation module, sensing data test module and computer data processing enter.
The sonar navigation module comprises lift-launch formula inertial navigation system, filter information emerging system and a plurality of sensor; The computer data processing enter comprises the built-in computing machine of AUV; The sensing data test module comprises the A/D modular converter;
The sonar navigation module is obtained speed, orientation, the degree of depth of current underwater robot through sensor; And relatively get difference with carrying formula inertial navigation system measured speed, orientation, degree of depth result, speed, orientation, degree of depth three's difference information is delivered to the filter information emerging system; Speed, orientation, degree of depth three's difference information feeds back to lift-launch formula inertial navigation system after the filter information emerging system is handled, thereby repairs speed, orientation, the depth information of lift-launch formula inertial navigation system; The lift-launch formula inertial navigation system of sonar navigation module will be passed through the built-in computing machine of AUV that speed, orientation, the depth information repaired after superposeing are sent to the computer data processing enter; The sensing data test module obtains the water quality parameter of setting longitude and latitude, and water quality parameter is sent to the built-in computing machine of AUV afterwards through the conversion of A/D modular converter; The built-in computing machine of AUV matees longitude and latitude and water quality parameter, and matching structure is presented on the Density Map software through data analysis.
Sensor comprises that Doppler log, electronic compass, side sweep image sonar and depth transducer; Doppler log is measured the speed of underwater robot, and electronic compass is measured the orientation of underwater robot, and side is swept the image sonar and utilized the sift feature extracting method to obtain the underwater robot orientation and the degree of depth, and depth transducer obtains the current degree of depth of underwater robot.
Wherein, 1. Doppler log, model: 10 have ADCP doppler velocity log, and accurate pitching is looked DVL and is navigated by water and high-resolution sounder with base track.4 speed beams vertical with 1 (downwards) beam for depth measurement with survey highly, 4 speed beams and 1 vertical beam (make progress) are in order to evoke and surperficial location.Speed beam: 1.0MHz 25-35m and vertical beam: 500khz 70-80m;
2. electronic compass, the HMR3000 electronic compass of model: Honeywell;
3. side is swept the image sonar, model: Delta T multi-beam sonar;
4. depth transducer, model: Canadian NetMind.
Sensing and computing method that underwater navigation and water quality parameter longitude and latitude distribute comprise the steps:
Step 1; Through sonar navigation module and the formula of lift-launch inertial navigation system underwater robot present speed, orientation and the degree of depth are followed the trail of measurement; And with the sonar navigation module with carry underwater robot present speed, orientation and the depth ratio that the formula inertial navigation system measures and get difference; Difference feeds back to lift-launch formula inertial navigation system after the filter information fusion treatment, and present speed, orientation and the degree of depth of underwater robot are carried out error correction, obtains comparatively accurate position; And output to the built-in computing machine of AUV;
Step 2, the sensing data test module converts the water quality parameter of measuring to digital signal through the A/D modular converter, supplies the built-in Computer Analysis of AUV to handle;
Step 3; The built-in computing machine of AUV is with the longitude and latitude in the principal character zone of underwater robot navigation and the water quality parameter information of corresponding longitude and latitude; Be accessed in the database, longitude and latitude and parameter are mated one by one, on DensityMap, mark with different colours again according to different concentration.
Of Fig. 2, according to newton's principle of inertia, utilize gyroscope, acceleration measuring to measure the angular velocity and the linear acceleration of carrier; Through integration and various algorithm; And the method for combination error compensation, position, speed and the attitude information of acquisition carrier help to improve navigation accuracy.
The sonar navigation module adopts the adaptive error penalty method on algorithm design; Promptly at first side is swept image sonar and sift feature extraction algorithm and (is swept the image sonar like Fig. 3 side and help to obtain the undersea detection zone; Obtain the metric space extreme value through the sift detection technique; Navigate to the orientation of key point through extreme value, finally produce the sift descriptor, make things convenient for computing machine that data are further handled.) combine, detect an effective terrain feature after, this position underwater robot speed, orientation, depth parameter constantly promptly obtained, and gets difference with the inertial navigation system measurement result of lift-launch formula, and difference is delivered to the filter information emerging system.
The filter information method for amalgamation processing is as shown in Figure 4, and carrying the formula inertial navigation system has higher precision, so as the common reference system; The ratio of precision that electronic compass, side are swept image sonar and depth transducer is lower, as subsystem.The common reference system gives senior filter with the local assault and the covariance matrix part of test, and a part is given subfilter.Native system can select not have the replacement structure (No Reset Mode) as the filter construction of system.
If the state estimation of senior filter does
The estimation error variance matrix is P
f, the state estimation of electronic compass subfilter, side-scan sonar subfilter and depth transducer subfilter is respectively:
The estimation error variance matrix is respectively: P
1, P
2, P
3System information
is that all subfilters are shared.Senior filter merges the information that each sub-filters transmits.Step is following:
1. confirm the original state value: establish global state and be estimated as
, its covariance matrix is P
F0, the covariance matrix of system noise is Q
F0Initial information is through the information distribution factor-beta
1, β
2, β
3Be assigned to three sub-filters.(wherein, β
1, β
2, β
3The three and be 1) system noise information also is assigned to each sub-filters.
2. respectively each sub-filters and a senior filter time are upgraded, the renewal of each subfilter and senior filter is independently carried out.(i representes i wave filter, i=1,2,3)
L(k)＝diag(λ
l(k),λ
2(k),...λ
n(k))
3. each subfilter measures renewal.
P
i(k)＝(I-K
kH
k)P
i(k/k-1)
4. the senior filter information fusion obtains global optimum and estimates.The information that is about to the partial estimation value of each subfilter merges by following formula, obtains global optimum and estimates.Contrary
of variance matrix is information matrix, and it has expressed the size of the contained information of estimation of i sub-filters.P
iBig more, then the i sub-filters is low more to the precision of estimating.
5. repeat once more 2. ~ 4. the next time cycle is gone in stepping.
(4) sensor parameters test general adopt the multisensor probe integrated water temperature, turbidity, blue-green algae, chlorophyll a, dissolved oxygen DO, PH, ORP sensor.The sensor test data send data to AUV built-in computing machine through the RS485 communication interface after changing through A/D.The RS485 level transferring chip is selected MAX485 for use, and it has the advantage of low-power consumption, auto sleep.For fear of the phase mutual interference of signal, also in order to prevent that one road signal from breaking down and influence other several signals, all separate power supply of each road chip, and adopt light-coupled isolation in the junction of signal, the method can improve the reliability and stability of system.
(5) the built-in computing machine of AUV mainly comprises the software of the Density Map of a database and an independent development.Flow chart of data processing is as shown in Figure 5: database mainly accepts to stop on the underwater robot course line longitude and latitude data of test point, and opens up one section memory headroom simultaneously and enough store water quality parameter, and this memory headroom is with the longitude and latitude name of this moment.Treat that sensor after this point records water quality parameter, is stored in corresponding memory headroom.Circulation is gone down up to the zone that tests all settings successively.All water quality parameters of each longitude and latitude have just been stored so in the database now one to one.Density Map Development of Software is based on this database, when calling it, draws the contour map of this test zone at first automatically, calls database data then.It should be noted that all parametric classifications call; Such as: Density Map calls each longitude and latitude data of water turbidity earlier; Be labeled in then on the software figure; When the water turbidity of test all was labeled on the longitude and latitude, software can be represented with depth various colors in corresponding zone according to the size of water turbidity concentration.Can analyze current water quality condition intuitively like this, for relevant departments provide important research foundation.
Claims (6)
1. the sensing and the computing system that distribute of underwater navigation and water quality parameter longitude and latitude is characterized in that: mainly be made up of sonar navigation module, computer data processing enter and sensing data test module; Said sonar navigation module comprises lift-launch formula inertial navigation system, filter information emerging system and a plurality of sensor; Said computer data processing enter comprises the built-in computing machine of AUV; Said sensing data test module comprises the A/D modular converter;
Said sonar navigation module is obtained speed, orientation, the degree of depth of current underwater robot through sensor; And relatively get difference with carrying formula inertial navigation system measured speed, orientation, degree of depth result, speed, orientation, degree of depth three's difference information is delivered to the filter information emerging system; Said speed, orientation, degree of depth three's difference information feeds back to lift-launch formula inertial navigation system after the filter information emerging system is handled, thereby repairs speed, orientation, the depth information of lift-launch formula inertial navigation system; The lift-launch formula inertial navigation system of said sonar navigation module will be passed through the built-in computing machine of AUV that speed, orientation, the depth information repaired after superposeing are sent to the computer data processing enter; Said sensing data test module obtains the water quality parameter of setting longitude and latitude, and said water quality parameter is sent to the built-in computing machine of AUV afterwards through the conversion of A/D modular converter; The built-in computing machine of said AUV matees longitude and latitude and water quality parameter, and matching structure is presented on the Density Map software through data analysis.
2. sensing and computing system that underwater navigation as claimed in claim 1 and water quality parameter longitude and latitude distribute is characterized in that: said sensor comprises that Doppler log, electronic compass, side sweep image sonar and depth transducer; Said Doppler log is measured the speed of underwater robot, and electronic compass is measured the orientation of underwater robot, and side is swept the image sonar and utilized the sift feature extracting method to obtain the underwater robot orientation and the degree of depth, and depth transducer obtains the current degree of depth of underwater robot.
3. sensing and computing system that underwater navigation as claimed in claim 1 and water quality parameter longitude and latitude distribute, it is characterized in that: said filter information emerging system comprises senior filter and subfilter; The corresponding sensor of said each subfilter, subfilter adopts the Kalman filter structure, be used for to sensor acquisition to data carry out filtering, and send to senior filter; Said senior filter is the center-filter that is used for information fusion and processing, the data message that each sub-filters of its receiving front-end transmits: longitude and latitude, orientation, depth data, and with the concrete submarine site of further correction and definite current robot.
4. sensing and computing system that underwater navigation as claimed in claim 1 and water quality parameter longitude and latitude distribute, it is characterized in that: said water quality parameter comprises water temperature, turbidity, blue-green algae, chlorophyll a, dissolved oxygen DO, PH, ORP.
5. the sensing and the computing method that distribute of underwater navigation and water quality parameter longitude and latitude is characterized in that: comprise the steps:
Step 1; Through sonar navigation module and the formula of lift-launch inertial navigation system underwater robot present speed, orientation and the degree of depth are followed the trail of measurement; And with the sonar navigation module with carry underwater robot present speed, orientation and the depth ratio that the formula inertial navigation system measures and get difference; Difference feeds back to lift-launch formula inertial navigation system after the filter information fusion treatment, and present speed, orientation and the degree of depth of underwater robot are carried out error correction, obtains comparatively accurate position; And output to the built-in computing machine of AUV;
Step 2, the sensing data test module converts the water quality parameter of measuring to digital signal through the A/D modular converter, supplies the built-in Computer Analysis of AUV to handle;
Step 3; The built-in computing machine of AUV is with the longitude and latitude in the principal character zone of underwater robot navigation and the water quality parameter information of corresponding longitude and latitude; Be accessed in the database, longitude and latitude and parameter are mated one by one, on DensityMap, mark with different colours again according to different concentration.
6. sensing and computing method that underwater navigation as claimed in claim 5 and water quality parameter longitude and latitude distribute, it is characterized in that: the method for said filter information fusion treatment is: will carry the formula inertial navigation system as the common reference system; Electronic compass, side are swept image sonar and depth transducer as subsystem; The common reference system gives senior filter with the local assault and the covariance matrix part of test, and a part is given subfilter; Concrete steps do,
1. confirm the original state value of subfilter: covariance matrix p
oWith process noise Q, R;
2. respectively each sub-filters and the senior filter time of carrying out are upgraded, the time of each subfilter and senior filter upgrades and independently carries out;
3. each subfilter measures renewal;
4. information fusion obtains global optimum and estimates; The information that is about to the partial estimation value of each subfilter merges by following formula, obtains global optimum and estimates;
Repeat 2. ~ 4. stepping once more and go into the next time cycle.
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| CN110109047A (en) * | 2019-04-22 | 2019-08-09 | 天津大学 | A kind of acoustic beacon searching and locating method and system |
| CN110794855A (en) * | 2019-11-26 | 2020-02-14 | 南方电网调峰调频发电有限公司 | Comprehensive control system and method for underwater robot |
| CN115936496A (en) * | 2022-11-29 | 2023-04-07 | 中国环境科学研究院 | Water quality prediction model data treatment standardization method |
| CN115936496B (en) * | 2022-11-29 | 2023-09-19 | 中国环境科学研究院 | Water quality prediction model data treatment standardization method |
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