Integrated navigation algorithm of multi-joint deep-sea vehicle

doi:10.13474/j.cnki.11-2246.2022.0116

Abstract

Abstract: To solve the positioning problem of a multi-joint underwater vehicle, a integrated navigation algorithm based on strapdown inertial navigation+dead reckoning is proposed in this paper. The method measures the position of vehicle by the strapdown inertial navigation, and gets the position of the vehicle at the next moment by the dead reckoning, and the measured information is processed by Kalman filter to get the high accuracy position information. The performance of other two single navigations systems are studied comparatively on MATLAB/SIMULINK platform. The simulation results show that the position error can be controlled within 5 m when using the integrated navigation algorithm, which can meet the positioning requirements of the multi-joint underwater vehicle.

Key words: multi-joint underwater vehicle, positioning, strapdown inertial navigation+dead reckoning, integrated navigation, Kalman filter

CLC Number:

P228

WAN Yingneng, XU Xuehan, LIU Kexian. Integrated navigation algorithm of multi-joint deep-sea vehicle[J]. Bulletin of Surveying and Mapping, 2022, 0(4): 90-95.

References 13

[1]	何柏岩,杜金辉,杨绍琼,等. 基于VMD-LSSVM的水下滑翔机深平均流预测[J]. 天津大学学报,2021,54(4):388-396.
[2]	田宇,张艾群,李伟. 一种自主水下机器人追踪深海热液浮力羽流的基于行为规划算法[C]//第三十二届中国控制会议论文集.西安:[s.n.],2013:917-924.
[3]	陈倩. 高机动性小型水下监测机器人研究[D]. 哈尔滨:哈尔滨工业大学, 2018.
[4]	李秦牧, 朱大奇, 邓志刚. 水下机器人惯性导航系统[J]. 现代计算机(专业版), 2018(21):39-43.
[5]	王超. 基于声学通信的多AUV编队导航与协调控制[D]. 哈尔滨:哈尔滨工程大学, 2018.
[6]	李红. 基于优化搜索的地磁仿生导航及其在AUV中的应用研究[D]. 西安:西北工业大学, 2018.
[7]	徐成龙. 基于多传感器融合水下机器人(AUV)导航方法的研究[D]. 沈阳:东北大学, 2017.
[8]	马国驹, 蔚保国, 智奇楠. 高精度组合导航及其测绘车应用技术[J]. 测绘科学, 2015, 40(12):144-148.
[9]	李晓明, 赵长胜, 谭兴龙. 改进的容积卡尔曼滤波的组合导航定位算法[J]. 测绘科学, 2020, 45(9):25-30.
[10]	NOURMOHAMMADI H, KEIGHOBADI J. Fuzzy adaptive integration scheme for low-cost SINS/GPS navigation system[J]. Mechanical Systems and Signal Processing, 2018, 99:434-449.
[11]	黄莺. 基于CKF的SINS/DVL组合导航系统设计与仿真[D]. 哈尔滨:哈尔滨工程大学, 2013.
[12]	GENG Yanrui, MARTINS R, SOUSA J. Accuracy analysis of DVL/IMU/magnetometer integrated navigation system using different IMUs in AUV[J]. IEEE ICCA, 2010, 10:516-521.
[13]	MU Xiaokai, HE Bo, WU Shuyi, et al. A practical INS/GPS/DVL/PS integrated navigation algorithm and its application on autonomous underwater vehicle[J]. Applied Ocean Research, 2021, 106:102441.

[1]	ZHANG Bo, LIU Qiang, XU Guoliang, CAI Renlan, CHENG Feng. Application of GNSS+INS integrated navigation in mine auto-driving trucks [J]. Bulletin of Surveying and Mapping, 2022, 0(7): 143-147.
[2]	TENG Wenxin, ZHANG Jianchen, SHAO Jie. Lane-level high-precision positioning algorithm based on integrated spatio-temporal proximity and CNN [J]. Bulletin of Surveying and Mapping, 2022, 0(6): 1-5,61.
[3]	ZHOU Baoding, YANG Chengjing, GU Zhining, LIU Xu. An indoor parking lot vehicle positioning method assisted by environmental semantic information [J]. Bulletin of Surveying and Mapping, 2022, 0(6): 6-11,75.
[4]	CHEN Yibiao, BEI Jinzhong, GU Shouzhou, YANG Lijun, WANG Hongbin, CHU Bin. BDS-3+GPS precise point positioning modeling and performance analysis [J]. Bulletin of Surveying and Mapping, 2022, 0(6): 12-17,39.
[5]	YU Guangrui, LIU Xingchun, SHI Chunlin, WANG Zhichao. A robust 3D reconstruction method of UAV images [J]. Bulletin of Surveying and Mapping, 2022, 0(6): 76-81.
[6]	ZHANG Chao, JIANG Jinguang, WU Jiaji, XIE Dongpeng, YAN Peihui. RTK+IEZ pedestrian position method aided by magnetometer turn-detection HDE for harsh environment [J]. Bulletin of Surveying and Mapping, 2022, 0(5): 101-105,149.
[7]	ZHANG Dongsheng, ZHANG Yuying, LI Guozhu, ZHAO Zilong, YANG Suxin. Performance analysis of BDS/GPS/GLONASS non difference non combination PPP in low latitude and high altitude area [J]. Bulletin of Surveying and Mapping, 2022, 0(5): 150-156.
[8]	ZHAO Yinzhi, ZOU Jingui, CAI Lixian, HUANG Gege. An ultra wide band indoor positioning method considering electrical delay [J]. Bulletin of Surveying and Mapping, 2022, 0(4): 1-5,31.
[9]	LUO Youan, JIANG Aiguo, YANG Fuxin, ZHANG Jie, HE Dongxu, XU Yinglong. Application research of BDS precise point positioning on dynamic positioning system of offshore oil drilling rig [J]. Bulletin of Surveying and Mapping, 2022, 0(4): 111-116.
[10]	XIAO Haowei, WANG Jianglin, GUO Hairong, YANG Liyang. Real-time precise point positioning precision analysis based on PPP-B2b service [J]. Bulletin of Surveying and Mapping, 2022, 0(4): 117-121.
[11]	GAO Zhiyu, GUO Jinyi, LIU Jie. Application progress of BDS in monitoring crustal deformation [J]. Bulletin of Surveying and Mapping, 2022, 0(3): 32-35.
[12]	WANG Mingjia, CHEN Haoxiang. Research on positioning of civil aviation aircraft based multi-sensor [J]. Bulletin of Surveying and Mapping, 2022, 0(1): 21-25.
[13]	MA Huilin, WU Wentan, WU Xiuli. Performance analysis of BDS-2 precise point positioning augmented by BDS-3 within the Asia-Pacific region [J]. Bulletin of Surveying and Mapping, 2022, 0(1): 56-60.
[14]	YANG Yong, CUI Lizhen, GUO Qianqian, XUE Zhonghao. LSTM geomagnetic positioning algorithm based on Attention mechanism in underground coal mine [J]. Bulletin of Surveying and Mapping, 2022, 0(1): 72-78.
[15]	GUO Ling, DU Weiwei, LIU Ling, LI Rui, WAN Ping. Application of 5G and high-precision positioning in military logistics warehousing application [J]. Bulletin of Surveying and Mapping, 2021, 0(9): 64-67,97.