CN105974456A - Autonomous underwater robot combined navigation system - Google Patents
Autonomous underwater robot combined navigation system Download PDFInfo
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- CN105974456A CN105974456A CN201610351400.6A CN201610351400A CN105974456A CN 105974456 A CN105974456 A CN 105974456A CN 201610351400 A CN201610351400 A CN 201610351400A CN 105974456 A CN105974456 A CN 105974456A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an autonomous underwater robot combined navigation system comprising a pressure-withstanding GPS positioning device, an acceleration sensor, a gyroscope, an embedded central processor, a built-in pressure gauge and an underwater acoustic communication sonar. A plurality of cameras are installed around an underwater robot body; and a Beidou module is installed in each camera. A water flow sensor and an external pressure sensor are installed on the outer wall of the underwater acoustic communication sonar. In addition, the system also consists of a data processing module, a panoramic video generation module, a physical model building module, a virtual actuator, a virtual sensor, and a navigation route simulation analysis module. According to the invention, on the basis of the Beidou module design, position detection of the GPS positioning device and all sensors is completed; position parameter correction is completed automatically; and the system can be used conveniently. Meanwhile, simulation of each simulated line can be carried out by a physical model, thereby obtaining an optimized line and improving the system visuality; and the line accuracy and security are improved.
Description
Technical field
The present invention relates to a kind of navigation system, be specifically related to a kind of autonomous type underwater robot integrated navigation system
System.
Background technology
Intelligent Underwater Robot is one of its development trend to miniaturization at present.Small underwater robot by
, maneuverability, low cost little in its volume, lift-launch are convenient, all have wide practical use military-civil.
Navigation problem remains one of underwater robot Chief technology of being faced of design.Underwater robot now
Navigation common method has dead reckoning, inertial navigation and acoustic method etc..The general volume of inertial navigation system is relatively big,
Expensive, it is most important that the navigation of pure-inertial guidance system is not having other sensor data information to mend
In the case of repaying, its position error will accumulate with voyage in time and dissipate, acoustic positioning system (Long baselines,
Short baseline, ultra-short baseline etc.) positioning precision improves a lot, and its shortcoming is exactly that operating distance is limited.Boat position
Calculate that navigation is the air navigation aid of a kind of low cost, be the important navigation means of underwater robot, its method letter
Single, economical, underwater robot is in addition to being equipped with tachymeter, attitude, depth transducer etc., it is only necessary to given
Initial position message, just may make up the autonomous type real-time, reliable with certain precision by certain algorithm
Navigation system.Microminiature underwater robot is limited to volume, cost, the energy etc. and limits, and this is to navigation system
Having higher requirement, this miniaturization integrated navigation system a kind of to structure adds difficulty.Navigation system
Typically being made up of miniaturization, low cost sensor, sensor accuracy is relatively low, and meanwhile, underwater robot is general
Being operated in distinctive ocean underwater environment, interfering noise signal is big, and various underwater sound sensors generally exist precision
Low, the wild some shortcoming that rate is high, preferably filters to sensing data that to pick out wild dot information particularly important.
Dead reckoning navigation, it is generally required to periodically carry out position correction, is passed through by emerging the most greatly if latent
GPS carries out position readjustment, and this will consume relatively multiple-energy-source, and this is outstanding to the microminiature underwater robot of limited energy
It is unfavorable.The most there is not the operation of route analogue simulation in the most existing underwater vehicles navigation system, visually
While property difference, degree of accuracy is low.
Summary of the invention
For solving the problems referred to above, the invention provides a kind of autonomous underwater vehicle combined navigation system, logical
Cross the design of Big Dipper module, complete GPS positioner and the detection of each sensing station thereof, such that it is able to
It is automatically performed location parameter correction, greatly facilitates use, every can be carried out by physical model simultaneously and imitate
The analogue simulation of true route, thus the route after being optimized, on the one hand improve the visuality of system, separately
On the one hand accuracy and the safety of route are also improved.
For achieving the above object, the technical scheme that the present invention takes is:
A kind of autonomous underwater vehicle combined navigation system, passes including pressure GPS positioner, acceleration
Sensor, gyroscope, embedded central processing unit, built-in piezometer and underwater acoustic communication sonar, described pressure
GPS positioner, acceleration transducer, gyroscope, embedded central processing unit and built-in piezometer are installed
Under water in robot body, described underwater acoustic communication sonar is arranged on underwater human body front end, described water
Lower robot body surrounding is provided with some photographic head, each photographic head, acceleration transducer, gyroscope,
Big Dipper module, described water it is mounted in embedded central processing unit, built-in piezometer and underwater acoustic communication sonar
Water flow rate sensor and off-board pressure transducer, described pressure GPS it is also equipped with on acoustic communication sonar outer wall
Positioner, acceleration transducer, gyroscope, built-in piezometer, water flow rate sensor, external pressure pass
Sensor, underwater acoustic communication sonar all inputs with embedded central processing unit are connected, and also include
Data processing module, for receiving video data and the Big Dipper module of correspondence thereof that photographic head is collected
Location data, complete the labelling of video data by received location data, and after being completed by labelling
Data are sent to panoramic video generation module；
Panoramic video generation module, for generating panoramic video data according to received video data, and
The data of generation are sent to embedded central processing unit；
Described embedded central processing unit is used for receiving pressure GPS positioner, acceleration transducer, gyro
Instrument, built-in piezometer, water flow rate sensor, off-board pressure transducer, underwater acoustic communication sonar and aphorama
Frequently the data that generation module is sent, the data that received are stored with in corresponding data base, and by these
Received data are converted into physical model and set up the data that module can identify and be sent to physical model and build
Formwork erection block；It is additionally operable to according to received data, by default algorithm output integrated navigation information to aobvious
Display screen；
Module set up by physical model, for the data sent according to embedded central processing unit and control command
Generate various underwater robot physical model；
Virtual actuator, for driving Parameters variation, sets up each element in module with physical model and sets up
After relation, in the range of specifying, parameter can be changed, such that it is able to driving simulation analyzes method pin
Different parameters is carried out calculating solve；
Virtual-sensor, for the target that can directly obtain corresponding result or information inserted in physical model
Logical block；
Navigation way sunykatuib analysis module, is used for leading to various simulation analysis algorithm and simulating analysis completes to lead
The simulation analysis of air route line；
Human-machine operation module, for inputting the basic parameter data of underwater human body, data call order
With various control commands, and by the basic parameter data inputted, data call order, various control command
It is sent to embedded central processing unit；
Described virtual actuator performs simulation algorithm or emulation mode by circulation and result feeds back to navigation road
Line sunykatuib analysis module, described navigation way sunykatuib analysis module automatically extracts data to virtual-sensor, institute
State virtual-sensor and automatically show analysis result.
Preferably, pressure GPS positioner include GPS chip, RFID chip, electronic compass chip and
Big Dipper module, GPS chip includes central processing module, noise suppression module, gain amplification module and the Big Dipper
Module, GPS input signal enters central processing module, GPS through noise suppression module and gain amplification module
Output signal, through modulation module output to Big Dipper module, completes data by Big Dipper module and transmits, RFID
Chip is connected with central processing module with electronic compass chip, and built-in Big Dipper module.
Preferably, described Big Dipper module uses short message communication to realize data transmission.
Preferably, described virtual actuator includes dummy unit actuator, virtual characteristics actuator and virtual load
Lotus actuator.
Preferably, described panoramic video generation module completes the generation of panoramic video by following steps:
S1, carry out video denoising, strengthen after pretreatment, obtain accurate edge, and with the marginal point obtained
As characteristic point, obtain three-dimensional point cloud by converting between coordinate system, rebuild accurate surface model；
S2, model is carried out without deformation texture map, make reconstruction effect closer to real three-dimensional scenic,
It is directed in video-splicing software, completes the Auto-matching of starting point, it is achieved the splicing of video data；Whole
Splicing contains the demarcation of photographic head, sensor image distortion correction, the projective transformation of image, match point
Choose, Panorama Mosaic, and the equilibrium treatment of brightness and color.
Preferably, described display screen is two, and one of them is for the sunykatuib analysis of navigation way, another
Display for other data.
Preferably, described embedded central processing unit completes data transmission by Big Dipper module.
The method have the advantages that
By the design of Big Dipper module, complete GPS positioner and the detection of each sensing station thereof, from
And location parameter correction can be automatically performed, greatly facilitate use；The biography of data is completed by Big Dipper module
Defeated, it is to avoid owing to signal is the poorest and to cause the generation of the situation of data-transmission interruptions；Built by physical model
The design of formwork erection block, and virtual actuator, virtual-sensor and the design of navigation way sunykatuib analysis module,
Achieve the analogue simulation of every emulation route, such that it is able to the route after being optimized, on the one hand improve
The visuality of system, on the other hand also improves accuracy and the safety of route.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of autonomous underwater vehicle combined navigation system of the embodiment of the present invention.
Fig. 2 is the structural representation of pressure GPS positioner in the embodiment of the present invention.
Detailed description of the invention
In order to make objects and advantages of the present invention clearer, below in conjunction with embodiment, the present invention is carried out
Further describe.Should be appreciated that specific embodiment described herein only in order to explain the present invention,
It is not intended to limit the present invention.
As Figure 1-Figure 2, a kind of autonomous type underwater robot integrated navigation is embodiments provided
System, including pressure GPS positioner, acceleration transducer, gyroscope, embedded central processing unit,
Built-in piezometer and underwater acoustic communication sonar, described pressure GPS positioner, acceleration transducer, gyroscope,
Embedded central processing unit and built-in piezometer are arranged in underwater human body, described underwater acoustic communication sonar
Being arranged on underwater human body front end, described underwater human body's surrounding is provided with some photographic head, often
Individual photographic head, acceleration transducer, gyroscope, embedded central processing unit, built-in piezometer and the underwater sound are logical
It is mounted on Big Dipper module in news sonar, described underwater acoustic communication sonar outer wall is also equipped with water flow rate sensor
And off-board pressure transducer, described pressure GPS positioner, acceleration transducer, gyroscope, built-in pressure
Power meter, water flow rate sensor, off-board pressure transducer, underwater acoustic communication sonar all with embedded central processing unit
Input be connected, also include
Data processing module, for receiving video data and the Big Dipper module of correspondence thereof that photographic head is collected
Location data, complete the labelling of video data by received location data, and after being completed by labelling
Data are sent to panoramic video generation module；
Panoramic video generation module, for generating panoramic video data according to received video data, and
The data of generation are sent to embedded central processing unit；
Described embedded central processing unit is used for receiving pressure GPS positioner, acceleration transducer, gyro
Instrument, built-in piezometer, water flow rate sensor, off-board pressure transducer, underwater acoustic communication sonar and aphorama
Frequently the data that generation module is sent, the data that received are stored with in corresponding data base, and by these
Received data are converted into physical model and set up the data that module can identify and be sent to physical model and build
Formwork erection block；It is additionally operable to according to received data, by default algorithm output integrated navigation information to aobvious
Display screen；
Module set up by physical model, for the data sent according to embedded central processing unit and control command
Generate various underwater robot physical model；
Virtual actuator, for driving Parameters variation, sets up each element in module with physical model and sets up
After relation, in the range of specifying, parameter can be changed, such that it is able to driving simulation analyzes method pin
Different parameters is carried out calculating solve；
Virtual-sensor, for the target that can directly obtain corresponding result or information inserted in physical model
Logical block；
Navigation way sunykatuib analysis module, is used for leading to various simulation analysis algorithm and simulating analysis completes to lead
The simulation analysis of air route line；
Human-machine operation module, for inputting the basic parameter data of underwater human body, data call order
With various control commands, and by the basic parameter data inputted, data call order, various control command
It is sent to embedded central processing unit；
Described virtual actuator performs simulation algorithm or emulation mode by circulation and result feeds back to navigation road
Line sunykatuib analysis module, described navigation way sunykatuib analysis module automatically extracts data to virtual-sensor, institute
State virtual-sensor and automatically show analysis result.
Pressure GPS positioner includes GPS chip, RFID chip, electronic compass chip and Big Dipper module,
GPS chip includes central processing module, noise suppression module, gain amplification module and Big Dipper module, GPS
Input signal enters central processing module, GPS output signal through noise suppression module and gain amplification module
Through modulation module output to Big Dipper module, complete data by Big Dipper module and transmit, RFID chip and electricity
Sub-compass chip is connected with central processing module, and built-in Big Dipper module.
Described Big Dipper module uses short message communication to realize data transmission.
Described virtual actuator includes dummy unit actuator, virtual characteristics actuator and Virtual Load start
Device.
Described panoramic video generation module completes the generation of panoramic video by following steps:
S1, carry out video denoising, strengthen after pretreatment, obtain accurate edge, and with the marginal point obtained
As characteristic point, obtain three-dimensional point cloud by converting between coordinate system, rebuild accurate surface model；
S2, model is carried out without deformation texture map, make reconstruction effect closer to real three-dimensional scenic,
It is directed in video-splicing software, completes the Auto-matching of starting point, it is achieved the splicing of video data；Whole
Splicing contains the demarcation of photographic head, sensor image distortion correction, the projective transformation of image, match point
Choose, Panorama Mosaic, and the equilibrium treatment of brightness and color.
Described display screen is two, and one of them is for the sunykatuib analysis of navigation way, and another is used for other
The display of data.
Described embedded central processing unit completes data by Big Dipper module and transmits.
Big Dipper module it is provided with in described water flow rate sensor, off-board pressure transducer.
The above is only the preferred embodiment of the present invention, it is noted that common for the art
For technical staff, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications,
These improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
1. an autonomous underwater vehicle combined navigation system, it is characterised in that include that pressure GPS is fixed
Position device, acceleration transducer, gyroscope, embedded central processing unit, built-in piezometer and underwater acoustic communication
Sonar, described pressure GPS positioner, acceleration transducer, gyroscope, embedded central processing unit and
Built-in piezometer is arranged in underwater human body, and described underwater acoustic communication sonar is arranged on underwater robot originally
Body front end, described underwater human body's surrounding is provided with some photographic head, and each photographic head, acceleration pass
It is mounted on north in sensor, gyroscope, embedded central processing unit, built-in piezometer and underwater acoustic communication sonar
Bucket module, described underwater acoustic communication sonar outer wall is also equipped with water flow rate sensor and off-board pressure transducer,
Described pressure GPS positioner, acceleration transducer, gyroscope, built-in piezometer, water flow rate sensor,
Off-board pressure transducer, underwater acoustic communication sonar all inputs with embedded central processing unit are connected, and also include
Data processing module, for receiving video data and the Big Dipper module of correspondence thereof that photographic head is collected
Location data, complete the labelling of video data by received location data, and after being completed by labelling
Data are sent to panoramic video generation module；
Panoramic video generation module, for generating panoramic video data according to received video data, and
The data of generation are sent to embedded central processing unit；
Described embedded central processing unit is used for receiving pressure GPS positioner, acceleration transducer, gyro
Instrument, built-in piezometer, water flow rate sensor, off-board pressure transducer, underwater acoustic communication sonar and aphorama
Frequently the data that generation module is sent, the data that received are stored with in corresponding data base, and by these
Received data are converted into physical model and set up the data that module can identify and be sent to physical model and build
Formwork erection block；It is additionally operable to according to received data, by default algorithm output integrated navigation information to aobvious
Display screen；
Module set up by physical model, for the data sent according to embedded central processing unit and control command
Generate various underwater robot physical model；
Virtual actuator, for driving Parameters variation, sets up each element in module with physical model and sets up
After relation, in the range of specifying, parameter can be changed, such that it is able to driving simulation analyzes method pin
Different parameters is carried out calculating solve；
Virtual-sensor, for the target that can directly obtain corresponding result or information inserted in physical model
Logical block；
Navigation way sunykatuib analysis module, is used for leading to various simulation analysis algorithm and simulating analysis completes to lead
The simulation analysis of air route line；
Human-machine operation module, for inputting the basic parameter data of underwater human body, data call order
With various control commands, and by the basic parameter data inputted, data call order, various control command
It is sent to embedded central processing unit；
Described virtual actuator performs simulation algorithm or emulation mode by circulation and result feeds back to navigation road
Line sunykatuib analysis module, described navigation way sunykatuib analysis module automatically extracts data to virtual-sensor, institute
State virtual-sensor and automatically show analysis result.
A kind of autonomous underwater vehicle combined navigation system the most according to claim 1, its feature
Being, pressure GPS positioner includes GPS chip, RFID chip, electronic compass chip and Big Dipper mould
Block, GPS chip includes central processing module, noise suppression module, gain amplification module and Big Dipper module,
GPS input signal enters central processing module through noise suppression module and gain amplification module, and GPS exports
Signal, through modulation module output to Big Dipper module, completes data by Big Dipper module and transmits, RFID chip
It is connected with central processing module with electronic compass chip, and built-in Big Dipper module.
A kind of autonomous underwater vehicle combined navigation system the most according to claim 2, its feature
Being, described Big Dipper module uses short message communication to realize data transmission.
A kind of autonomous underwater vehicle combined navigation system the most according to claim 1, its feature
Being, described virtual actuator includes dummy unit actuator, virtual characteristics actuator and Virtual Load start
Device.
A kind of autonomous underwater vehicle combined navigation system the most according to claim 1, its feature
Being, described panoramic video generation module completes the generation of panoramic video by following steps:
S1, carry out video denoising, strengthen after pretreatment, obtain accurate edge, and with the marginal point obtained
As characteristic point, obtain three-dimensional point cloud by converting between coordinate system, rebuild accurate surface model；
S2, model is carried out without deformation texture map, make reconstruction effect closer to real three-dimensional scenic,
It is directed in video-splicing software, completes the Auto-matching of starting point, it is achieved the splicing of video data；Whole
Splicing contains the demarcation of photographic head, sensor image distortion correction, the projective transformation of image, match point
Choose, Panorama Mosaic, and the equilibrium treatment of brightness and color.
A kind of autonomous underwater vehicle combined navigation system the most according to claim 1, its feature
Being, described display screen is two, and one of them is for the sunykatuib analysis of navigation way, and another is used for it
The display of his data.
A kind of autonomous underwater vehicle combined navigation system the most according to claim 1, its feature
Being, described embedded central processing unit completes data by Big Dipper module and transmits.
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| CN107340777A (en) * | 2016-12-06 | 2017-11-10 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned boat control system and method |
| CN106989778A (en) * | 2017-05-11 | 2017-07-28 | 商洛学院 | A kind of Tailings Dam on-line monitoring system |
| CN107728627A (en) * | 2017-10-13 | 2018-02-23 | 中国船舶重工集团公司七五0试验场 | Underwater robot makes a return voyage control method, computer and storage medium |
| CN108319268A (en) * | 2018-02-08 | 2018-07-24 | 衢州职业技术学院 | A kind of robot navigation of view-based access control model moves into one's husband's household upon marriage method |
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| CN110132183B (en) * | 2019-04-30 | 2021-12-28 | 苏州科技大学 | Underwater robot type submerged plant coverage meter for deep water area |
| CN111965316A (en) * | 2020-06-29 | 2020-11-20 | 盐城工学院 | Water environment monitoring system based on GPS |
| CN112433219A (en) * | 2020-11-03 | 2021-03-02 | 深圳市汇海潜水工程服务有限公司 | Underwater detection method, system and readable storage medium |
| CN112433219B (en) * | 2020-11-03 | 2024-05-31 | 深圳市汇海潜水工程服务有限公司 | Underwater detection method, system and readable storage medium |
| CN115150433A (en) * | 2022-07-04 | 2022-10-04 | 新疆维吾尔自治区环境保护科学研究院 | Auxiliary device of environmental pollution remote sensing monitoring equipment and monitoring method |
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