CN-121994271-A - Position calibration method in AUV (autonomous Underwater vehicle) bow-shaped operation based on 1 submarine sound beacon

CN121994271ACN 121994271 ACN121994271 ACN 121994271ACN-121994271-A

Abstract

The invention provides a position calibration method in AUV underwater bow-shaped navigation based on 1 submarine sound beacon, which comprises the following steps of S101, performing correction calculation on the stored m groups of longitude and latitude based on the m groups of underwater sound ranging results, calculating a position error correction amount and compensating to inertial navigation to realize AUV position error calibration, wherein 1 submarine sound beacon is arranged at the central position of an underwater operation area in advance and the position calibration is completed on the submarine sound beacon to serve as a position reference, S102, the AUV performs underwater bow-shaped navigation operation, m groups of underwater sound ranging are respectively performed on the submarine sound beacons before and after a navigation line turns, and the underwater sound ranging results are stored. The problem that in the prior art, since the USBL is limited by the resolution of the directional angle, the positioning of underwater sound cannot be performed at a long distance with high precision, and the LBL can realize AUV or AUV cluster position error calibration only by arranging and calibrating a plurality of submarine sound beacons in advance.

Inventors

BAI LONG
Wen Zhuofan
Zeng ang
LIAO PENG
FENG SHAOJU
WU XIONG

Assignees

宜昌测试技术研究所

Dates

Publication Date: 20260508
Application Date: 20251224

Claims (6)

1. A method for calibrating the position of an AUV in underwater "bow" voyage based on 1 submarine acoustic beacon, comprising the steps of: S101, completing arrangement of 1 submarine sound beacon in the central position of an underwater operation area in advance in an AUV or AUV cluster by a test ship or an AUV, and completing position calibration of the submarine sound beacon to be used as a position reference; step S102, performing underwater bow-shaped navigation operation by the AUV, respectively performing m groups of underwater acoustic ranging on the submarine acoustic beacons before and after the navigation line turning, and storing the underwater acoustic ranging result; And step 103, based on m groups of underwater acoustic ranging results, carrying out correction and calculation on the stored m groups of longitudes and latitudes, calculating a position error correction amount, compensating to inertial navigation, and realizing AUV position error calibration.
2. The method of claim 1, wherein the AUV performs real-time underwater ranging of the a# submarine acoustic beacon and buffering ranging results, including ranging time, using its own configured underwater acoustic ranging system after the increase in positioning error exceeds a position calibration threshold while performing underwater "bow" voyage operations AUV longitude and latitude, AUV relative A# submarine acoustic beacon distance Depth of voyage And after the buffer result reaches 2m groups of ranging results, covering the oldest group of ranging results with the real-time ranging results in a data ring mode.
3. The method of claim 2, wherein the following is performed on the 2m sets of hydroacoustic ranging results: (1) Dividing the 2m groups of underwater acoustic ranging results into m groups before the route turning and m groups after the route turning; for the 2m sets of ranging results, the first m sets of ranging results are recorded as ranging time AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range Depth of voyage The m sets of ranging information are recorded as ranging time AUV longitude and latitude% ) AUV versus A# submarine acoustic beacon range Depth of voyage ; (2) Converting longitude and latitude under a geographic coordinate system into planar Cartesian coordinates; AUV longitude and latitude in 2m groups of underwater acoustic ranging results of A# submarine acoustic beacons are converted into a planar Cartesian coordinate system by the inquired A# submarine acoustic beacons longitude and latitude, and A# submarine acoustic beacons longitude and latitude are used ) The origin is the east direction is the X axis, and the north direction is the Y axis; Longitude and latitude [ ], then ) Conversion to Cartesian Ticket system for sedentary The formula of (2) is as follows: (1) The position and depth of the converted A# submarine acoustic beacons are respectively recorded as And After the first m groups of ranging information of the A# submarine sound beacons are converted, the ranging moment AUV position AUV versus A# submarine acoustic beacon range Depth of voyage The last m groups of ranging information of the A# submarine sound beacons are stored as the ranging time AUV position [ ] ) AUV versus A# submarine acoustic beacon range Depth of voyage Wherein Re is the earth radius; (3) Judging whether the front m groups of ranging tracks and the rear m groups of ranging tracks are positioned before and after the turning of the route; Record position of group 1 of the previous m groups ) The position of the m group is E ) The position of group 1 of the group F and the group m is ) G, m group position ) For H, solving the included angle theta of the two sections of tracks EF and GH by using a vector dot product formula, wherein the formula is as follows: (2) If it is The AUV stops caching the underwater acoustic ranging and ranging results of the A# submarine acoustic beacon, and calculates the AUV position by using the cached 2m groups of ranging results through a subsequent method, so that inertial navigation position error calibration is realized; otherwise, the AUV continues to perform underwater acoustic ranging and ranging result caching on the A# submarine acoustic beacon.
4. A method according to claim 1,2 or 3, wherein step S103 is specifically as follows: (1) Based on the known position and depth of the A# submarine acoustic beacon and the 2m group underwater acoustic ranging result, the positioning calculation of the position of the cache AUV is carried out, and the method specifically comprises the following steps: recording AUV position (inertial navigation position) of first ranging A# submarine sound beacon as The corrected position of the point to be solved is recorded as AUV corrected position of the ranging results of the first m groups and the last m groups And Which may be expressed as an AUV position for first ranging an A# marine acoustic beacon Plus the distance of the AUV in the east and north direction movement during this period, namely: (3) (4) Taking the i-th ranging result of the first m groups and the i-th ranging result of the m-th m groups on the A# known acoustic beacon, wherein the plane geometrical relationship is as follows: (5) longitude and latitude of submarine sound beacon according to A # -, and ) As the origin of the cartesian coordinate system, Is that The following steps are: (6) After substituting the formula (3) and the formula (4) into the formula (6), the two formulas in the formula (5) are subtracted: (7) The m sets of ranging results may be written as: (8) Written in matrix form: (9) Wherein: (10) (11) (12) The AUV position for the first ranging of the A# submarine acoustic beacon, i.e., the corrected position to be solved The method can be calculated by a least square method: (13) In order to ensure that the equation (13) is solved and unique, the path in the underwater acoustic ranging process in AUV navigation navigates along an arc-shaped path, and the included angle judgment condition of the two sections of paths in the previous step is met. Solving to obtain Then, the buffered m-th inertial navigation position can be corrected by the formulas (3) and (4) to obtain a corrected AUV position And ; (2) Calculating inertial navigation error correction quantity and inertial navigation position error calibration; from cached AUV actual position And underwater acoustic positioning based solution The inertial navigation position error of the AUV is calculated as follows: (14) To error the position And compensating to inertial navigation, namely finishing the position error correction of the AUV.
5. A method according to claim 1, 2 or 3, wherein m is ≡3.
6. A position calibration system for realizing the method is characterized by comprising a high-precision satellite navigation/inertial navigation/Doppler velocimeter combined navigation system, a high-precision time keeping device capable of being subjected to satellite navigation, a underwater sound distance measurement and underwater sound communication system capable of being subjected to external time keeping and clock hard synchronization, a submarine sound beacon and a depth gauge, wherein the submarine sound beacon and the depth gauge have the satellite navigation time keeping and high-precision time keeping, a submarine sound response function and a submarine sound communication function, firstly, 1 submarine sound beacon is placed on a test ship deck or on shore and is in a high-precision time keeping state, the submarine sound beacon is placed at the central point of an underwater operation area, the position calibration of the beacon is completed after the submarine implantation, an AUV performs underwater bow-shaped navigation operation, m times of underwater sound distance measurement are respectively performed on the submarine sound beacon before and after the navigation line is turned, the result is saved, and based on m groups of underwater sound distance measurement results, the corrected longitude and latitude are calculated, the position error is compensated to the navigation, and thus the AUV position error is calibrated.

Description

Position calibration method in AUV (autonomous Underwater vehicle) bow-shaped operation based on 1 submarine sound beacon Technical Field The invention relates to the field of underwater acoustic position calibration, in particular to a position calibration method in AUV underwater bow-shaped navigation based on 1 submarine acoustic beacon. Background Autonomous underwater unmanned underwater vehicle (autonomous underwater vehicle, AUV) plays an increasingly important role in the fields of ocean development and national defense due to the advantages of small volume, low use cost, intelligent autonomous operation, convenient maintenance, good concealment and the like. With the gradual expansion of the AUV application field, the requirements on the navigation system are also higher and higher. At present, an AUV mostly adopts an INS/GPS/DVL integrated navigation system, and when the AUV works underwater for a long time, navigation errors are continuously increased along with time, so that the accuracy of a work result and self navigation safety are affected. In order to solve the problem of navigation and positioning of an AUV or an AUV cluster under water for long-term operation, an underwater PNT system is generally adopted, but it is a difficult problem how to implement position error calibration of the AUV or the AUV cluster in an operation area with a minimum number of submarine acoustic beacons. Disclosure of Invention The invention provides a position calibration method in AUV underwater bow-shaped navigation based on 1 submarine sound beacon, which is used for solving the problem that in the prior art, since the USBL is limited by the resolution of a directional angle, the positioning of underwater sound cannot be performed at a long distance with high precision, and the LBL can realize the position error calibration of an AUV or an AUV cluster only by arranging and calibrating a plurality of submarine sound beacons in advance. In order to achieve the above purpose, the technical scheme of the invention is as follows. The AUV underwater 'bow' -shaped navigation position calibration method based on 1 submarine acoustic beacon specifically comprises the following steps: S101, completing arrangement of 1 submarine sound beacon in the central position of an underwater operation area in advance in an AUV or AUV cluster by a test ship or an AUV, and completing position calibration of the submarine sound beacon to be used as a position reference; step S102, performing underwater bow-shaped navigation operation by the AUV, respectively performing m groups of underwater acoustic ranging on the submarine acoustic beacons before and after the navigation line turning, and storing the underwater acoustic ranging result; And step 103, based on m groups of underwater acoustic ranging results, carrying out correction and calculation on the stored m groups of longitudes and latitudes, calculating a position error correction amount, compensating to inertial navigation, and realizing AUV position error calibration. The invention also discloses a position calibration system for realizing the method, which comprises a high-precision satellite navigation/inertial navigation/Doppler velocimeter combined navigation system, a high-precision time keeping device capable of being used by satellite navigation, a underwater sound distance measuring and underwater sound communication system capable of being used by external time keeping and clock hard synchronization, a submarine sound beacon and a depth gauge with the functions of satellite navigation time keeping, high-precision time keeping, underwater sound response and underwater sound communication, wherein firstly, 1 submarine sound beacon is placed on a test ship deck or on shore and is in a high-precision time keeping state, the submarine sound beacon is placed at the central point of an underwater operation area, the beacon position calibration is completed after the submarine implantation, the AUV performs underwater 'bow' -shaped navigation operation, m times of underwater sound distance measurement are respectively performed on the submarine sound beacon before and after the navigation line is turned, the result is saved, and based on m sets of underwater sound distance measuring results, the corrected longitude and latitude are calculated, the position error is compensated to the navigation, so that the AUV position error is calibrated. The invention has the beneficial effects that: 1. The invention utilizes an AUV to configure a high-precision integrated navigation system of the satellite navigation/inertial navigation/Doppler velocimeter, and based on 1 known submarine acoustic beacon in the center of an operation area, and combines an 'bow' -shaped operation path to perform underwater acoustic ranging on the known acoustic beacon so as to finish the calibration of the self navigation position error of the AUV; 2. According to the invention, under the condition that