CN115790579A - Deep sea underwater unmanned vehicle inertial navigation method, system, equipment and medium - Google Patents
Deep sea underwater unmanned vehicle inertial navigation method, system, equipment and medium Download PDFInfo
- Publication number
- CN115790579A CN115790579A CN202211421803.5A CN202211421803A CN115790579A CN 115790579 A CN115790579 A CN 115790579A CN 202211421803 A CN202211421803 A CN 202211421803A CN 115790579 A CN115790579 A CN 115790579A
- Authority
- CN
- China
- Prior art keywords
- navigation
- navigation system
- inertial navigation
- calibration
- optical fiber
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Navigation (AREA)
Abstract
The invention relates to the technical field of UUV navigation, in particular to a method, a system, equipment and a medium for inertial navigation of a deep sea underwater unmanned vehicle, which comprise the following steps: after the self-checking of the integrated navigation system is passed, laying an underwater unmanned vehicle, initially aligning by utilizing position information output by a satellite positioning device, detecting whether the optical fiber inertial navigation system receives a calibration instruction, if the calibration instruction is not received, entering a task-only execution working condition after the initial alignment of the optical fiber inertial navigation system is successful, and obtaining the optimal estimation of navigation parameters; if a calibration instruction is received, after the optical fiber inertial navigation system is successfully aligned initially, respectively entering a calibration and task execution working condition or entering a calibration only working condition according to whether the underwater unmanned vehicle needs to execute a task. According to the invention, the problem of INS working time sequence in the whole process from the arrangement and underwater task execution to the recovery of the UUV with large depth is solved by dividing three conditions of only executing the task, executing the task after calibration and only calibrating.
Description
Technical Field
The invention relates to the technical field of UUV navigation, in particular to a method, a system, equipment and a medium for inertial navigation of a deep sea underwater unmanned vehicle.
Background
Currently, most Unmanned Underwater Vehicles (UUVs) carry an Inertial Navigation System (INS) based on a fiber/laser gyroscope, and since the submergence depth of the UUV generally does not exceed 1000m, a navigation method adopted by the inertial navigation system is relatively simple, and a method of combining the INS and a Doppler Velocimeter (DVL) or combining the INS and a satellite positioning system (GNSS) is generally adopted.
However, GNSS information can only be received if a UUV floats on or near the water surface, which is not applicable to a UUV with a large depth exceeding 1000m, and the existing INS navigation method is also not applicable to a UUV with a large depth, for example: when the working depth exceeds 6000 meters, the requirements on the navigation accuracy and the like of the UUV are more severe.
Disclosure of Invention
The invention provides an inertial navigation method, a system, equipment and a medium for a deep-sea underwater unmanned vehicle, and solves the technical problems that the conventional underwater unmanned vehicle with an inertial navigation system cannot be suitable for deep-sea areas and is poor in navigation precision.
In order to solve the technical problems, the invention provides a method, a system, equipment and a medium for navigation of an unmanned underwater vehicle in deep sea.
In a first aspect, the invention provides an inertial navigation method for a deep-sea underwater unmanned vehicle, which is applied to a combined navigation system installed on the underwater unmanned vehicle, wherein the combined navigation system comprises an optical fiber inertial navigation system, a satellite positioning device, a doppler velocimeter and a depth meter, the satellite positioning device comprises a satellite positioning receiver and an underwater acoustic positioning system, and the method comprises the following steps:
carrying out self-checking on the combined navigation system, and after the self-checking is passed, laying the underwater unmanned vehicle;
starting initial alignment by using position information output by a satellite positioning device, detecting whether the optical fiber inertial navigation system receives a calibration instruction, if not, entering a task-only execution working condition after the optical fiber inertial navigation system succeeds in initial alignment, and completing combined navigation;
if a calibration instruction is received, judging whether the underwater unmanned vehicle needs to execute a task after the optical fiber inertial navigation system is successfully aligned initially, and if the task needs to be executed, entering a calibration and task execution working condition to complete combined navigation; otherwise, entering a calibration working condition only;
and after the navigation mission task is finished, acquiring the optimal estimation of the navigation parameters.
In further embodiments, the task-only conditions include:
receiving position information of a satellite positioning receiver, and controlling an underwater unmanned vehicle to reach a preset diving point;
the method comprises the steps that the water surface of a diving point is calibrated by using the position information of a satellite positioning receiver, and an underwater unmanned vehicle is controlled to start diving after the water surface calibration of the diving point is finished;
performing integrated navigation calculation according to the position information of the satellite positioning device to obtain optimal estimation of navigation parameters;
when the navigation mission task is finished, the underwater unmanned vehicle floats to the water surface, and performs position indication and recovery to finish combined navigation.
In further embodiments, the calibration-only operating conditions include:
calibrating the optical fiber inertial navigation system by using the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter, and performing secondary water surface alignment on the optical fiber inertial navigation system;
and after the calibration is finished, recovering the underwater unmanned vehicle.
In a further embodiment, the calibration and task execution conditions include:
calibrating the optical fiber inertial navigation system by using the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter, and performing secondary water surface alignment on the optical fiber inertial navigation system after the calibration is completed;
after the secondary alignment is finished, receiving position information of a satellite positioning receiver, and controlling the underwater unmanned vehicle to reach a preset diving point;
the method comprises the steps that the water surface of a diving point is calibrated by using the position information of a satellite positioning receiver, and an underwater unmanned vehicle is controlled to start diving after the water surface calibration of the diving point is finished;
performing integrated navigation calculation according to the position information of the satellite positioning device to obtain optimal estimation of navigation parameters;
when the navigation mission task is finished, the underwater unmanned vehicle floats to the water surface, and performs position indication and recovery to finish combined navigation.
In a further embodiment, the step of performing a combined navigation solution based on the position information of the satellite positioning device to obtain an optimal estimate of the navigation parameters comprises:
collecting integrated navigation information output by an integrated navigation system; the combined navigation information comprises angular velocity information and acceleration information output by an optical fiber inertial navigation system, position information output by an underwater sound positioning system, velocity information output by a Doppler velocimeter and depth information output by a depth meter;
based on a linear Kalman model, performing underwater calibration on the optical fiber inertial navigation system by using integrated navigation information;
performing integrated navigation calculation by using the integrated navigation information, and correcting errors of an integrated navigation system to obtain optimal estimation of navigation parameters; and the optimal estimation of the navigation parameters comprises the real-time speed, position and attitude of the optical fiber inertial navigation system.
In a further embodiment, when the integrated navigation information is used for underwater calibration of the fiber optic inertial navigation system, the state space model of the integrated navigation system is as follows:
wherein the content of the first and second substances,
in the formula, X k An n-dimensional state vector representing the integrated navigation system at the time k; phi k，k-1 A state transition matrix representing the transition from time (k-1) to time k; gamma-shaped k，k-1 A noise distribution matrix representing the time from (k-1) to k; w k-1 Representing a systematic noise vector; z k An observation vector representing time k; h k An observation matrix representing time k; v k An observation noise vector representing time k; lambda [ alpha ] UAPS Represents the longitude of the underwater acoustic positioning system output; l is UAPS Representing the latitude of the output of the underwater sound positioning system; h is DG Depth information representing the output of the depth gauge; lambda INS Represents the longitude of the fiber inertial navigation system output; l is INS Representing the latitude of the output of the fiber inertial navigation system; h is a total of INS Representing depth information output by the fiber optic inertial navigation system.
In a further embodiment, the fiber inertial navigation system comprises a three-axis fiber-optic gyroscope assembly, a quartz flexible accelerometer, an I/F converted current, a DC power supply, a navigation computer, and navigation software;
the navigation computer comprises an FPGA, a DSP, an ARM and a power supply module, and is used for regularly acquiring position information output by the satellite positioning device and speed information output by the Doppler velocimeter through two RS422 interfaces;
the FPGA is used for receiving digital quantity signals output by the optical fiber inertial navigation system and the temperature sensor through two I/O isolation signal lines and one RS422 interface and triggering DSP external interruption;
and the DSP is used for reading and utilizing the digital quantity signals acquired by the FPGA to carry out navigation resolving, and returning the resolved optimal estimation of the navigation parameters to the FPGA in an interruption mode.
In a second aspect, the invention provides an inertial navigation system of an unmanned underwater vehicle in deep sea, comprising:
the system self-checking module is used for self-checking the combined navigation system and laying the underwater unmanned aircraft after the self-checking is passed;
the initial alignment module is used for starting initial alignment by utilizing the position information output by the satellite positioning device, detecting whether the optical fiber inertial navigation system receives a calibration instruction or not, and if the calibration instruction is not received, entering a task-only execution working condition after the optical fiber inertial navigation system succeeds in initial alignment to complete combined navigation;
the task judgment module is used for judging whether the underwater unmanned vehicle needs to execute a task or not after the optical fiber inertial navigation system is successfully aligned initially if a calibration instruction is received, and entering a calibration and task execution working condition to finish combined navigation if the task needs to be executed; otherwise, entering a calibration working condition only;
and the data output module is used for acquiring the optimal estimation of the navigation parameters after the navigation mission task is finished.
In a third aspect, the present invention also provides a computer device, which includes a processor and a memory, where the processor is connected to the memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the computer device executes the steps for implementing the method.
In a fourth aspect, the present invention also provides a computer-readable storage medium, in which a computer program is stored, which computer program, when executed by a processor, implements the steps of the above method.
The invention provides a method, a system, equipment and a medium for inertial navigation of an underwater unmanned vehicle in deep sea. Compared with the prior art, the method provides a combined navigation scheme and a combined navigation algorithm for the UUV inertial navigation with large depth, and configures a design scheme of a navigation computer, so that the navigation of the unmanned underwater vehicle with large depth is considered, and the calibration and the execution of tasks can be performed according to different conditions; in addition, the navigation computer provided by the invention has the advantages of high integration level, small volume, low power consumption and the like, improves the navigation precision and the adaptability to complex environments, and has wide application prospect.
Drawings
FIG. 1 is a schematic flow chart of a method for inertial navigation of an underwater unmanned deep sea vehicle provided by an embodiment of the invention;
FIG. 2 is a schematic view of an integrated navigation system provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a hardware structure of a navigation computer provided by an embodiment of the present invention;
FIG. 4 is a timing diagram illustrating the operation of an INS to execute tasks according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the INS calibration-only working timing sequence provided in the embodiment of the present invention;
FIG. 6 is a schematic diagram of the working timing sequence of the INS calibration and task execution provided by the embodiment of the present invention;
FIG. 7 is a schematic diagram of an electrical connection structure of the integrated navigation system according to the embodiment of the present invention;
FIG. 8 is a schematic diagram of an INS workflow provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram of an INS inertial navigation integrated navigation system provided by an embodiment of the present invention;
FIG. 10 is a flow chart of INS integrated navigation provided by an embodiment of the present invention;
FIG. 11 is a block diagram of an inertial navigation system of the deep sea underwater unmanned vehicle provided by an embodiment of the invention;
fig. 12 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
Referring to fig. 1, an embodiment of the present invention provides a method for inertial navigation of an unmanned underwater vehicle in deep sea, as shown in fig. 1, the method includes the following steps:
s1, self-checking the combined navigation system, and after the self-checking is passed, laying out the underwater unmanned vehicle.
In the embodiment, an integrated navigation system controls an underwater unmanned vehicle to be powered on, after an optical fiber Inertial Navigation System (INS), a satellite positioning device (GNSS) and a Doppler Velocimeter (DVL) in the integrated navigation system are subjected to self-checking respectively, the Underwater Unmanned Vehicle (UUV) is deployed on the shore or a mother ship, and after the UUV is deployed on the water surface on the shore, initial alignment is performed in a water surface floating state; when the UUV is arranged on the mother ship, the UUV is carried by the mother ship to a preset sea area, and after the UUV arrives, the mother ship is in a floating state and is initially aligned on the mother ship.
As shown in fig. 2, the deep-sea unmanned underwater vehicle applied in this embodiment includes an integrated navigation system installed on the underwater unmanned vehicle, where the integrated navigation system includes an optical fiber Inertial Navigation System (INS), a satellite positioning device (GNSS), a Doppler Velocimeter (DVL), a depth meter, and an upper computer; the optical fiber inertial navigation system is a central pivot and a core of the whole integrated navigation system, and comprises a triaxial optical fiber gyroscope assembly, a quartz flexible accelerometer, I/F (input/output) conversion current, a direct current power supply, a navigation computer and navigation software; the satellite positioning device comprises a satellite positioning receiver and an underwater sound positioning system, in the embodiment, a mature goods shelf product can be selected for use by the satellite positioning system (GNSS) and the Doppler Velocimeter (DVL), and meanwhile, a future compatible Beidou satellite navigation scheme is considered, and a satellite navigation chip compatible with Beidou/GPS is selected as a positioning information reference.
As shown in fig. 3, the navigation computer includes an FPGA, a DSP, an ARM, a crystal oscillator, a JTAG, an SDRAM, a FLASH, and a power module, it should be noted that the traditional computer hardware all adopts a hardware structure combining the FPGA, the DSP, and the FLASH, and the embodiment adopts a hardware structure combining the FPGA, the DSP, the ARM, the DDR, and 2 flashes, and the hardware structure of the embodiment is improved in performance indexes such as data processing efficiency, processing speed, reading and storing speed, reliability of storage, and storage capacity, and the navigation computer hardware structure provided by the embodiment is described as follows:
(1) The method comprises the steps that digital quantity signals of a satellite positioning device (GPS/Beidou two-in-one) and a Doppler Velocimeter (DVL) are collected at regular time through two RS422 interfaces;
(2) Receiving digital quantity signals of an inertial measurement unit IMU (comprising three gyroscopes, three accelerometers and a temperature sensor) through two I/O isolation signal lines and one RS422 interface;
(3) The expansion board is used for information acquisition and packaging transmission of the external inertial navigation source, and the core board is used for receiving and processing external signals (the external inertial navigation source and the external information source) (including initial alignment, navigation parameter calculation, combined navigation and the like) and outputting navigation information at the processing position to the carrier through a serial port;
(4) The navigation device has the functions of storing and downloading the original data of the external inertial navigation source, the original data of the external information source and the calculated navigation information data; the method comprises the following steps that an FPGA acquires output data (including data of three gyroscopes, three accelerometers and a temperature sensor) of a sensor, original data are obtained through preprocessing, an instruction such as interrupt is sent to a DSP to enable the DSP to read the data, the DSP reads the original data from the FPGA and stores the original data in a DDR2 (temporary storage), an ARM reads DE1 original data in the DDR2 and stores the DE1 original data in a FLASH-1 (permanent storage), the DSP conducts navigation resolving through the original data, obtained navigation information is stored in a synchronous dynamic random access memory and stored in the FLASH-1 by the ARM, and the storage content of each memory is specifically as follows: the FLASH-1 stores programs, original data, instruction information and navigation information which are operated in the DSP and the ARM, the DDR2 is used for temporarily storing the original data and the navigation information, the FLASH-2 stores programs which are operated in the FPGA, and the network port is used for updating the programs and downloading the original data, the instruction information and the navigation information;
(5) Power supply voltage: the power supply module converts the input 28V voltage into the power supply voltage required by each module, and the following voltages are mainly adopted: +5V, +5V and +/-15V, the core board and the expansion board input +5V voltage, and convert the voltage into the necessary voltage by the power management circuit on the respective board; voltages required by the laser gyroscope, the accelerometer and the temperature sensor are +/-5V, +/-15V and +5V respectively;
(6) And the DSP, the ARM and the FPGA chip are debugged through the JTAG interface and the network port.
It should be noted that in fig. 3, "debugging computer" in the dashed box represents a device that needs to be connected only when debugging or downloading data on shore, and the carrier does not need to debug the navigation computer when working underwater.
In this embodiment, the navigation software is an important component of the integrated navigation system, the host computer circuit of the software is a navigation computer, the navigation software is solidified in Flash of the computer, the navigation software is loaded into SRAM to run after the computer is powered on, the navigation software is used for realizing functions of integrated navigation such as internal timing management, data acquisition of an optical fiber gyroscope and an accelerometer, error model calculation, navigation solution, communication with a ship-borne computer or test equipment, and the like, and the functions of the navigation software are explained as follows:
a) Initializing a navigation computer circuit; after the integrated navigation is powered on, the software is to complete the initialization of the navigation computer circuit, and the initialization comprises the following steps: various configurations of the DSP, initialization of a communication port of the fiber-optic gyroscope, initialization of communication ports on UUV carriers and the like, timer setting and the like.
b) Collecting data; the data acquisition period is 5ms, and the data acquired by the software comprises data of three optical fiber gyroscopes and three quartz flexible accelerometers.
c) Performing error model compensation calculation; and after the navigation software finishes data acquisition, calculating according to the error compensation model to obtain the angular increment and the speed increment of the period.
d) Completing navigation resolving; and the software completes the real-time updating of the attitude according to the navigation resolving algorithm and the attitude correction algorithm and simultaneously completes the angular rate calculation of the corresponding attitude.
e) Communicating with a comprehensive control computer and test equipment of a carrier; the communication mode of the integrated control computer and the test system of the combined navigation and carrier is bidirectional, and the combined navigation adopts different data sending modes according to different data requests of the computer or the test equipment on the mine.
f) Updating programs and parameters; the navigation software can realize the online upgrade of the software and the update of the error compensation parameters, receive the file sent by the test system through the communication port, write the file into Flash, and realize the online upgrade or the parameter update of the navigation software.
g) The INS/GNSS/DVL combined navigation receiver receives position information of a GNSS through an internal satellite receiver, receives speed information of the DVL through an external serial interface, judges the validity of the information on the basis of inertial navigation, uses effective external auxiliary information to carry out combined navigation settlement, corrects errors of a combined navigation system, inhibits the increase of errors of the combined navigation system, corrects the errors of the DVL under the condition that conditions allow, and improves the combined navigation precision of a carrier under water.
Specifically, the navigation software workflow is as follows: after the integrated navigation system is powered on and started, the DSP loads navigation software into the SRAM from Flash to start running, the navigation software enters a real-time working mode after hardware initialization is completed, namely, gyroscope and accelerometer data are collected once every 5ms and compensation calculation is carried out, meanwhile, an external command is waited, when the external command comes, tasks such as navigation resolving, data sending, parameter updating and program updating are started according to the received command, the software is divided into three relatively independent parts, namely a main program, a timing interrupt subprogram and an external command interrupt subprogram, and the main program completes tasks such as software and hardware initialization, timer setting, gyroscope data collection, accelerometer data collection, compensation calculation, navigation resolving, attitude correction, error correction and fault diagnosis; the timer interrupts the subprogram to finish the operation of the data acquisition mark of the gyroscope and the accelerometer; the external command interrupt processing subprogram completes the tasks of command identification, analysis, data transmission and the like; the navigation software comprises a lower layer and a top layer, wherein the lower layer software comprises acquisition, preprocessing (such as filtering), storage, reading and sending of sensor data, processing of flag bits, interruption, I/O, reset, chip selection signals, read/write control and the like between chips; the top software mainly comprises navigation software running in an FPGA and a DSP.
S2, starting initial alignment by using the position information output by the satellite positioning device, detecting whether the optical fiber inertial navigation system receives a calibration instruction, if not, entering a task-only execution working condition after the optical fiber inertial navigation system succeeds in initial alignment, and finishing combined navigation.
In one embodiment, as shown in FIG. 4, the task-only conditions include:
receiving position information of a satellite positioning receiver, and controlling an underwater unmanned vehicle to reach a preset diving point;
the method comprises the steps that the water surface of a diving point is calibrated by using the position information of a satellite positioning receiver, and an underwater unmanned vehicle is controlled to start diving after the water surface calibration of the diving point is finished;
performing integrated navigation calculation according to the position information of the satellite positioning device to obtain optimal estimation of navigation parameters;
when the navigation mission task is finished, the underwater unmanned vehicle floats to the water surface, and performs position indication and recovery to finish combined navigation.
Specifically, as shown in fig. 4, in this embodiment, it is detected in real time whether a calibration instruction is received in an alignment process, when the calibration instruction is not received or calibration is completed before an optical fiber Inertial Navigation System (INS) and calibration is not needed, the optical fiber inertial navigation system only executes a task, that is, after initial alignment is successful, position information of a satellite positioning receiver is received for integrated navigation, after a UUV reaches a predetermined dive point under the control of an operator or a mother ship, a central control unit of the UUV issues an instruction to start executing a navigation mission task, and the optical fiber Inertial Navigation System (INS) starts executing the navigation mission task, specifically: the optical fiber inertial navigation system utilizes the position information of the satellite positioning receiver to calibrate the water surface before submergence, after the calibration of the water surface before submergence is completed, the UUV is controlled to start submerging, the UUV is started to execute a navigation mission task after reaching a preset depth, the UUV floats upwards after the navigation mission task is completed, and the UUV shows the position after reaching the water surface through equipment such as GNSS or stroboscopic lamps.
It should be noted that, in the case where the fiber inertial navigation system only performs tasks, the upward solid-line double arrow in fig. 4 indicates a process that is definitely present, the upward dotted-line arrow indicates a process that may be present, and the time (value of relative time) when each process occurs or the time interval between processes is not given is indicated as an indeterminate time or time interval; in addition, the situation that the sound waves of the DVL cannot be detected on the seabed can occur in the underwater cruising process, and if the DVL is in the state for a long time, the INS precision can be close to the pure inertial navigation precision; in this embodiment, the large-depth AUV is taken as an example, and is in a pure inertial navigation state during the submergence, and is generally in a combined navigation state during the submergence for the small-depth AUV.
S3, if a calibration instruction is received, after the optical fiber inertial navigation system is successfully aligned initially, judging whether the underwater unmanned vehicle needs to execute a task, if so, entering a calibration and task execution working condition to complete combined navigation; otherwise, only the calibration condition is entered.
Specifically, in the initial alignment process, if it is detected that the optical fiber inertial navigation system receives the calibration instruction, after the initial alignment of the optical fiber inertial navigation system is successful, the INS starts to perform calibration, and there are two cases after the calibration is completed:
the first method comprises the following steps: the INS only calibrates the working sequence chart as shown in figure 5 under the condition that the tasks do not need to be executed near the end point of the calibration voyage and only need to be calibrated; it should be noted that, when the UUV is recovered and the task is executed again, the whole process is executed according to the task-only execution flow;
and the second method comprises the following steps: if the task needs to be executed near the end point of the calibration course, the task is continuously executed according to the situation that the optical fiber inertial navigation system only executes the task, as shown in fig. 6.
In one embodiment, as shown in FIG. 5, the calibration-only operating conditions include:
calibrating the optical fiber inertial navigation system by using the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter, and performing secondary water surface alignment on the optical fiber inertial navigation system;
and after the calibration is finished, recovering the underwater unmanned vehicle.
In one embodiment, as shown in fig. 6, the calibration and task execution conditions include:
calibrating the optical fiber inertial navigation system by using the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter, and performing secondary water surface alignment on the optical fiber inertial navigation system after the calibration is completed;
after the secondary alignment is finished, receiving position information of a satellite positioning receiver, and controlling the underwater unmanned vehicle to reach a preset diving point;
the method comprises the following steps that the position information of a satellite positioning receiver is utilized to carry out underwater surface calibration, and after the underwater surface calibration of the underwater is finished, the underwater unmanned vehicle is controlled to start submerging;
performing integrated navigation calculation according to the position information of the satellite positioning device to obtain optimal estimation of navigation parameters;
when the navigation mission task is finished, the underwater unmanned vehicle floats to the water surface, and performs position indication and recovery to finish combined navigation.
In one embodiment, the step of performing a combined navigation solution based on the position information of the satellite positioning device to obtain an optimal estimation of the navigation parameters comprises:
collecting integrated navigation information output by an integrated navigation system; the combined navigation information comprises angular velocity information and acceleration information output by an optical fiber inertial navigation system, position information output by an underwater sound positioning system, velocity information output by a Doppler velocimeter and depth information output by a depth meter;
based on a linear Kalman model, performing underwater calibration on the optical fiber inertial navigation system by using integrated navigation information;
performing integrated navigation calculation by using the integrated navigation information, and correcting errors of an integrated navigation system to obtain optimal estimation of navigation parameters; and the optimal estimation of the navigation parameters comprises the real-time speed, position and attitude of the optical fiber inertial navigation system.
In this embodiment, when a UUV with a large depth performs underwater operation, an underwater calibration algorithm based on an underwater acoustic positioning system is adopted in this embodiment, where a state space model of the integrated navigation system is:
wherein the content of the first and second substances,
when performing Underwater calibration, inertial navigation is in a combined mode of INS, underwater Acoustic Positioning System (UAPS), and Depth Gauge (DG), Z k And H k Respectively as follows:
in the formula (I), the compound is shown in the specification,
X k n-dimensional state vector representing a combined navigation system at time k, where E 、φ N 、φ U Respectively representing attitude errors in east, north and sky directions, deltav E 、δv N 、δv U Respectively representing velocity errors in east, north and sky directions, δ λ, δ L, δ h respectively representing longitude, latitude and altitude errors, e E 、ε N 、ε U Respectively representing the constant drift errors of the gyroscope in the east, north and sky directions,
respectively representing the zero offset errors of the accelerometer in the east direction, the north direction and the sky direction; phi (phi) of k，k-1 A state transition matrix representing the transition from time (k-1) to time k; gamma-shaped k，k-1 A noise distribution matrix representing the time from (k-1) to k; w k-1 Representing a systematic noise vector; z is a linear or branched member k An observation vector representing a time k; h k An observation matrix representing time k; v k An observed noise vector, W, representing time k k-1 、V k Gaussian white noise vector sequences with zero mean value are adopted and are not related to each other; lambda [ alpha ] UAPS Represents the longitude of the underwater acoustic positioning system output; l is UAPS Representing the latitude of the underwater acoustic positioning system output; h is a total of DG Depth information representing the output of the depth gauge; lambda [ alpha ] INS Representing the longitude of the output of the fiber inertial navigation system; l is INS Representing the latitude of the output of the optical fiber inertial navigation system; h is INS Representing depth information output by the fiber optic inertial navigation system.
It should be noted that, for the underwater calibration, the position information is derived from the underwater sound positioning system of the mother ship, and meanwhile, after the alignment is finished, before the integrated navigation starts or during the integrated navigation, the present embodiment may perform calibration on the INS for several times by using the GNSS, and when the INS is debugged without receiving GNSS signals (for example, during the inertial navigation in a workshop or a laboratory), the central control unit may be used to send the position information to assist the INS in completing the alignment.
Fig. 7 depicts an electrical connection relationship of the integrated navigation system of the whole UUV, the INS is a center and a core of the integrated navigation system, the debugging computer is only used for being connected with the INS when being debugged onshore, the GNSS comprises two parts, namely an above-water GNSS unit and an under-water GNSS unit, the UUV comprises an UUV vehicle body and a centralized control system, the centralized control system is placed on a mother ship and used for controlling the UUV, the main body of the centralized control system comprises an industrial personal computer and an above-water GNSS unit, the under-water GNSS unit is installed on the UUV, and the above-water GNSS unit and the under-water GNSS unit are communicated through a satellite (a first beidou short message function).
And S4, acquiring the optimal estimation of the navigation parameters after the navigation mission task is finished.
Specifically, in this embodiment, as shown in fig. 8, 9, and 10, the work flow of the integrated navigation system includes a power-on self-test stage, an alignment stage, and an integrated navigation stage, where in the power-on self-test stage, the integrated navigation system performs a fault check on the system, sets a corresponding state for a fault after the fault is detected, and if the system has no fault, switches to the alignment flow; in the alignment process, the integrated navigation system obtains the initial attitude of the current integrated navigation system by using the satellite positioning information as a reference, and then switches to the integrated navigation process; in the integrated navigation process, the integrated navigation system utilizes GNSS and DVL information to carry out integrated navigation resolving to obtain inertial navigation real-time speed, position, attitude and other information.
The embodiment provides a deep sea underwater unmanned vehicle inertial navigation method, which realizes a combined navigation scheme aiming at the large-depth UUV inertial navigation and a technical scheme of a combined navigation algorithm thereof by dividing three conditions of only executing a task, executing the task after calibration and only calibrating, and configuring navigation computer hardware and navigation software, and solves the problem of INS working time sequence in the whole process from deployment, underwater task execution to recovery of the large-depth UUV. Compared with the prior art, the method not only considers the navigation of the large-depth underwater unmanned vehicle, but also can calibrate and execute tasks according to different conditions; the method provided by the invention has the advantages of high hardware integration level, low power consumption, simple calculation, good real-time performance and the like, and improves the combined navigation precision and the use flexibility of the underwater navigation system.
It should be noted that, the sequence numbers of the above processes do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of each process, and should not limit the implementation process of the embodiment of the present application.
In one embodiment, as shown in fig. 11, the present embodiment provides a deep sea underwater unmanned vehicle inertial navigation system, including:
the system self-inspection module 101 is used for self-inspecting the combined navigation system and laying an underwater unmanned aircraft after the self-inspection is passed;
the initial alignment module 102 is configured to start initial alignment by using position information output by the satellite positioning device, detect whether the optical fiber inertial navigation system receives a calibration instruction, and if the calibration instruction is not received, enter a task-only execution working condition after the optical fiber inertial navigation system succeeds in initial alignment to complete combined navigation;
the task judgment module 103 is used for judging whether the underwater unmanned vehicle needs to execute a task after the optical fiber inertial navigation system is successfully aligned initially if a calibration instruction is received, and entering a calibration and task execution working condition to complete combined navigation if the task needs to be executed; otherwise, entering a calibration working condition only;
and the data output module 104 is used for acquiring the optimal estimation of the navigation parameters after the navigation mission task is finished.
The specific definition of the deep-sea underwater unmanned vehicle inertial navigation system can be referred to the definition of the deep-sea underwater unmanned vehicle inertial navigation method, and is not described herein again. Those of ordinary skill in the art will appreciate that the various modules and steps described in connection with the embodiments disclosed herein may be implemented in hardware, software, or a combination of both. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The embodiment of the invention provides an inertial navigation system of an unmanned underwater vehicle in deep sea, which carries out self-inspection on a combined navigation system through a system self-inspection module; the initial alignment of the optical fiber inertial navigation system is realized through the initial alignment module and the task judgment module, and the combined navigation is completed according to the fact that whether a calibration instruction is received, the situation that only a task is executed, the task is executed after calibration and only calibration is needed is divided; compared with the prior art, the method and the device have the advantages that the problem of INS working time sequence in the whole process from the arrangement and underwater task execution to the recovery of the UUV with large depth is solved by dividing the method into the three conditions of only executing the task, executing the task after DVL calibration and only calibrating, the method and the device can be suitable for the unmanned underwater vehicle with large depth, and meanwhile, the navigation accuracy of the underwater robot is guaranteed.
FIG. 12 is a block diagram of a computer device including a memory, a processor, and a transceiver coupled via a bus according to an embodiment of the invention; the memory is used to store a set of computer program instructions and data and may transmit the stored data to the processor, which may execute the program instructions stored by the memory to perform the steps of the above-described method.
Wherein the memory may comprise volatile memory or nonvolatile memory, or may comprise both volatile and nonvolatile memory; the processor may be a central processing unit, a microprocessor, an application specific integrated circuit, a programmable logic device, or a combination thereof. By way of example, and not limitation, the programmable logic devices described above may be complex programmable logic devices, field programmable gate arrays, general array logic, or any combination thereof.
In addition, the memory may be a physically separate unit or may be integrated with the processor.
It will be appreciated by those of ordinary skill in the art that the architecture shown in fig. 12 is a block diagram of only a portion of the architecture associated with the present solution and is not intended to limit the computing devices to which the present solution may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have the same arrangement of components.
In one embodiment, the present invention provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the above-described method.
The method, the system, the equipment and the medium for the deep-sea underwater unmanned vehicle inertial navigation overcome the defect that the traditional underwater unmanned vehicle cannot be applied to large-depth underwater operation, ensure the reliability of a navigation system, and have the advantages of low calculation complexity, high practical value and the like.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., SSD), among others.
Those skilled in the art will appreciate that all or part of the processes in the methods according to the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and the computer program can include the processes according to the embodiments of the methods described above when executed.
The above-mentioned embodiments only express some preferred embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these should be construed as the protection scope of the present application. Therefore, the protection scope of the present patent shall be subject to the protection scope of the claims.
Claims (10)
1. A deep sea underwater unmanned vehicle inertial navigation method is characterized in that a combined navigation system installed on an underwater unmanned vehicle is applied, the combined navigation system comprises an optical fiber inertial navigation system, a satellite positioning device, a Doppler velocimeter and a depth meter, the satellite positioning device comprises a satellite positioning receiver and an underwater acoustic positioning system, and the method comprises the following steps:
carrying out self-checking on the combined navigation system, and after the self-checking is passed, laying the underwater unmanned vehicle;
starting initial alignment by using position information output by a satellite positioning device, detecting whether the optical fiber inertial navigation system receives a calibration instruction, if not, entering a task-only execution working condition after the optical fiber inertial navigation system succeeds in initial alignment, and completing combined navigation;
if a calibration instruction is received, judging whether the underwater unmanned vehicle needs to execute a task after the optical fiber inertial navigation system is successfully aligned initially, and if the task needs to be executed, entering a calibration and task execution working condition to complete combined navigation; otherwise, entering a calibration working condition only;
and after the navigation mission task is finished, obtaining the optimal estimation of the navigation parameters.
2. The method of inertial navigation of an unmanned underwater vehicle in deep sea water of claim 1, wherein the task-only behavior comprises:
receiving position information of a satellite positioning receiver, and controlling an underwater unmanned vehicle to reach a preset diving point;
the method comprises the steps that the water surface of a diving point is calibrated by using the position information of a satellite positioning receiver, and an underwater unmanned vehicle is controlled to start diving after the water surface calibration of the diving point is finished;
performing integrated navigation calculation according to the position information of the satellite positioning device to obtain optimal estimation of navigation parameters;
when the navigation mission task is finished, the underwater unmanned vehicle floats to the water surface, and performs position indication and recovery to finish combined navigation.
3. The method of inertial navigation of an unmanned underwater vehicle in deep sea according to claim 1, wherein said calibration-only regime comprises:
calibrating the optical fiber inertial navigation system by using the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter, and performing secondary water surface alignment on the optical fiber inertial navigation system;
and after the calibration is finished, recovering the underwater unmanned vehicle.
4. The method for inertial navigation of an unmanned underwater vehicle at deep sea of claim 1, wherein said calibration and task performance conditions comprise:
calibrating the optical fiber inertial navigation system by using the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter, and performing secondary water surface alignment on the optical fiber inertial navigation system after the calibration is finished;
after the secondary alignment is finished, receiving position information of a satellite positioning receiver, and controlling the underwater unmanned vehicle to reach a preset diving point;
the method comprises the steps that the water surface of a diving point is calibrated by using the position information of a satellite positioning receiver, and an underwater unmanned vehicle is controlled to start diving after the water surface calibration of the diving point is finished;
performing integrated navigation calculation according to the position information of the satellite positioning device to obtain optimal estimation of navigation parameters;
when the navigation mission task is finished, the underwater unmanned vehicle floats to the water surface, and performs position indication and recovery to finish combined navigation.
5. The method for inertial navigation of an unmanned underwater vehicle in deep sea according to claim 2 or 4, wherein the step of performing integrated navigation solution based on the position information of the satellite positioning device to obtain the optimal estimation of the navigation parameters comprises:
collecting integrated navigation information output by an integrated navigation system; the combined navigation information comprises angular velocity information and acceleration information output by an optical fiber inertial navigation system, position information output by an underwater acoustic positioning system, velocity information output by a Doppler velocimeter and depth information output by a depth meter;
based on a linear Kalman model, performing underwater calibration on the optical fiber inertial navigation system by using integrated navigation information;
performing integrated navigation calculation by using the integrated navigation information, and correcting errors of an integrated navigation system to obtain optimal estimation of navigation parameters; and the optimal estimation of the navigation parameters comprises the real-time speed, position and attitude of the optical fiber inertial navigation system.
6. The method of claim 5, wherein when the integrated navigation information is used to perform underwater calibration on the fiber optic inertial navigation system, the state space model of the integrated navigation system is:
wherein, the first and the second end of the pipe are connected with each other,
in the formula, X k An n-dimensional state vector representing the integrated navigation system at the time k; phi (phi) of k，k-1 A state transition matrix representing the state from time (k-1) to time k; gamma-shaped k，k-1 A noise distribution matrix representing the time from (k-1) to k; w k-1 Representing a systematic noise vector; z k An observation vector representing time k; h k An observation matrix representing time k; v k An observation noise vector representing time k; lambda [ alpha ] UAPS Represents the longitude of the underwater acoustic positioning system output; l is UAPS Representing the latitude of the underwater acoustic positioning system output; h is DG Depth information representing the output of the depth gauge; lambda INS Representing the longitude of the output of the fiber inertial navigation system; l is a radical of an alcohol INS Representing the latitude of the output of the optical fiber inertial navigation system; h is INS Representing depth information output by the fiber optic inertial navigation system.
7. The method of inertial navigation of an unmanned underwater vehicle in deep sea according to claim 1, wherein: the optical fiber inertial navigation system comprises a triaxial optical fiber gyroscope assembly, a quartz flexible accelerometer, I/F conversion current, a direct current power supply, a navigation computer and navigation software;
the navigation computer comprises an FPGA, a DSP, an ARM and a power supply module, and is used for regularly acquiring position information output by the satellite positioning device and speed information output by the Doppler velocimeter through two RS422 interfaces;
the FPGA is used for receiving digital quantity signals output by the optical fiber inertial navigation system and the temperature sensor through two I/O isolation signal lines and one RS422 interface and triggering DSP external interruption;
and the DSP is used for reading and utilizing the digital quantity signals acquired by the FPGA to carry out navigation resolving, and returning the resolved optimal estimation of the navigation parameters to the FPGA in an interruption mode.
8. A deep sea underwater unmanned vehicle inertial navigation system, wherein the deep sea underwater unmanned vehicle inertial navigation method according to any one of claims 1 to 7 is applied, the system comprising:
the system self-checking module is used for self-checking the combined navigation system and laying the underwater unmanned aircraft after the self-checking is passed;
the initial alignment module is used for starting initial alignment by utilizing the position information output by the satellite positioning device and detecting whether the optical fiber inertial navigation system receives a calibration instruction, if the calibration instruction is not received, the optical fiber inertial navigation system enters a task-only execution working condition after the initial alignment of the optical fiber inertial navigation system is successful, and the integrated navigation is completed;
the task judgment module is used for judging whether the underwater unmanned vehicle needs to execute a task or not after the optical fiber inertial navigation system is successfully aligned initially if a calibration instruction is received, and entering a calibration and task execution working condition to finish combined navigation if the task needs to be executed; otherwise, entering a calibration working condition only;
and the data output module is used for acquiring the optimal estimation of the navigation parameters after the navigation mission task is finished.
9. A computer device, characterized by: comprising a processor coupled to a memory for storing a computer program and a memory for executing the computer program stored in the memory to cause the computer device to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed, implements the method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211421803.5A CN115790579A (en) | 2022-11-14 | 2022-11-14 | Deep sea underwater unmanned vehicle inertial navigation method, system, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211421803.5A CN115790579A (en) | 2022-11-14 | 2022-11-14 | Deep sea underwater unmanned vehicle inertial navigation method, system, equipment and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115790579A true CN115790579A (en) | 2023-03-14 |
Family
ID=85437453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211421803.5A Pending CN115790579A (en) | 2022-11-14 | 2022-11-14 | Deep sea underwater unmanned vehicle inertial navigation method, system, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115790579A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117782079A (en) * | 2024-01-08 | 2024-03-29 | 湖南工程学院 | Combined navigation computing system based on RISC-V architecture |
-
2022
- 2022-11-14 CN CN202211421803.5A patent/CN115790579A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117782079A (en) * | 2024-01-08 | 2024-03-29 | 湖南工程学院 | Combined navigation computing system based on RISC-V architecture |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109782323B (en) | Navigation positioning and calibrating method for autonomous underwater vehicle in deep sea | |
| US9014975B2 (en) | System on a chip inertial navigation system | |
| CN104457754A (en) | SINS/LBL (strapdown inertial navigation systems/long base line) tight combination based AUV (autonomous underwater vehicle) underwater navigation positioning method | |
| CN103760584B (en) | A kind of MONITOR AND CONTROL SYSTEM for the actual measurement of floating support mounting | |
| CN103528536B (en) | A kind of deformation of hull measuring method based on optical fibre gyro inertial navigation system | |
| CN109471433B (en) | Course and attitude reference system based on polarization compass | |
| CN109631884B (en) | Passive underwater navigation method based on single buoy | |
| LaPointe | Virtual long baseline (VLBL) autonomous underwater vehicle navigation using a single transponder | |
| CN101920762A (en) | Ship dynamic positioning method based on real-time correction of noise matrix | |
| CN103453904B (en) | A kind of redundancy configuration structure of Inertial Measurement Unit | |
| JP7214896B2 (en) | underwater navigation beacon | |
| CN102589570B (en) | Single-point offshore calibration method of marine aided inertial navigation system | |
| CN115790579A (en) | Deep sea underwater unmanned vehicle inertial navigation method, system, equipment and medium | |
| CN102564459B (en) | Method for calibrating single-shaft-rotation modulation strapdown inertial navigation system at sea | |
| CN105300407A (en) | Marine dynamic starting method for uniaxial modulation laser gyro inertial navigation system | |
| RU163855U1 (en) | SOCKET SENSOR, GRAVITY ANGLE AND COURSE ANGLE SPEED | |
| CN116660579A (en) | Wind speed data correction method, system and device | |
| CN116026324A (en) | Cross-domain navigation system and method for water-air cross-medium craft | |
| CN112649001B (en) | Gesture and position resolving method for small unmanned aerial vehicle | |
| CN202928582U (en) | Posture monitoring and positioning device for floating drilling platform | |
| CN103616709A (en) | Movement actual measurement method and system of jacket platform water entering process | |
| Inzartsev et al. | Integrated positioning system of autonomous underwater robot and its application in high latitudes of arctic zone | |
| Zhu et al. | Technology of SINS/USBL highly tightly coupled integrated navigation based on phase difference measurements | |
| Liu et al. | Application of Neural Network-Assisted GNSS/SINS CalibrationSystem in UUV | |
| CN116337115B (en) | Sonar-based method and system for calibrating inertial sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |