The invention discloses an underwater navigation positioning method based on heading attitude and propeller rotating speed for a small-sized AUV (Autonomous Underwater Vehicle). The method comprises the following steps: converting the propeller rotating speed of the small-sized AUV into navigational speed under a carrier system; performing flow velocity compensation on the navigational speed under the geographical system based on the flow velocity of the operation area of the small AUV to obtain the compensated navigational speed under the geographical system; setting a calculation period of a navigation system of the small AUV, and performing real-time calculation on the position information of the small AUV based on the calculation period, the position information of the small AUV determined in a previous calculation period of the current calculation period and the navigational speed under the compensated geographical system, so as to determine the position information of the small AUV in real time; and determining the position information of the small AUV based on whether the small AUV obtains the GPS positioning information. According to the method, the pitch angle, the roll angle, the course angle and other information of the small AUV are considered, measurement and compensation of the flow velocity of an operation water area are carried out, and the underwater navigation positioning precision is high.

    本发明公开了一种用于小型AUV的基于航姿和螺旋桨转速的水下导航定位方法,所述方法包括:将小型AUV的螺旋桨转速转换为载体系下航速;基于小型AUV的作业区域的流速对所述地理系下的航速进行流速补偿,得到补偿后的地理系下的航速;设置所述小型AUV的导航系统的解算周期,基于所述解算周期、当前解算周期的上一解算周期确定的所述小型AUV的位置信息、以及所述补偿后的地理系下的航速对所述小型AUV的位置信息进行实时推算,实时确定所述小型AUV的位置信息;基于所述小型AUV是否获得GPS定位信息确定所述小型AUV的位置信息。本发明的方法,考虑了小型AUV的俯仰角、横滚角、航向角等信息,并进行作业水域流速的测定和流速补偿,水下导航定位精度高。


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    Titel :

    Underwater navigation positioning method based on heading attitude and propeller rotating speed for small AUV (Autonomous Underwater Vehicle)


    Weitere Titelangaben:

    用于小型AUV的基于航姿和螺旋桨转速的水下导航定位方法


    Beteiligte:
    BAI LONG (Autor:in) / XIE HU (Autor:in) / ZENG ANG (Autor:in) / WU SHUANG (Autor:in) / ZHAO RAN (Autor:in)

    Erscheinungsdatum :

    2023-02-28


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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