The invention discloses an overwater and underwater integrated unmanned system and method, and belongs to the field of physical marine navigation positioning, and the system comprises a scientific investigation ship, an overwater unmanned ship formation, an underwater AUV, a GNSS receiver, an IMU, a USBL, DVL equipment, and communication equipment. The scientific investigation ship and unmanned ship formation obtains high-precision and high-reliability position and speed information through a GNSS/INS integrated navigation technology; high-precision position information of an overwater ship body is taken as a reference, and integrated positioning and navigation of an underwater AUV carrier are realized through fusion of multiple sensors, that is, a reliable carrier is provided for underwater physical ocean detection through an overwater and underwater integrated formation system, and integrated deep fusion of navigation, positioning, attitude determination and time service of an overwater and underwater mobile carrier is realized; the problem that a traditional single scientific investigation ship is low in efficiency and precision during physical ocean exploration work is solved.

    本发明公开了一种水上水下一体化无人系统、方法,属于物理海洋导航定位领域,包括科考船、水上无人船编队、水下AUV、GNSS接收机、IMU、USBL、DVL设备、通讯设备;科考船和无人船编队通过GNSS/INS组合导航技术获取高精度,高可靠性的位置、速度信息;以水上船体的高精度位置信息为基准,通过多元传感器融合实现对水下AUV载体的组合定位与导航,即通过水上水下一体化编队系统为水下物理海洋探测提供可靠载体,实现了水上水下移动载体的导航、定位、测姿和授时一体化深度融合,解决了传统单体科考船进行物理海洋探测工作时效率和精度低的问题。


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    Title :

    Overwater and underwater integrated unmanned system and method


    Additional title:

    一种水上水下一体化无人系统、方法


    Contributors:
    WANG LEI (author) / LIU YIXU (author) / WANG SHENGLI (author) / LU XIUSHAN (author) / ZHOU XINGHUA (author)

    Publication date :

    2022-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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