CN109084745A - Submarine cable inspection submarine navigation device intelligent monitor system and Combinated navigation method - Google Patents
Submarine cable inspection submarine navigation device intelligent monitor system and Combinated navigation method Download PDFInfo
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- CN109084745A CN109084745A CN201810602183.2A CN201810602183A CN109084745A CN 109084745 A CN109084745 A CN 109084745A CN 201810602183 A CN201810602183 A CN 201810602183A CN 109084745 A CN109084745 A CN 109084745A
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- 238000007689 inspection Methods 0.000 title claims abstract description 36
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
本发明提供的是一种海底电缆巡检用水下航行器智能监测系统及组合导航方法。包括自主水下航行器、水面浮台和岸站监控系统。组合导航系统包括MINS、GM、DVL、Visual四个子导航系统。采用水下航行器作为智能监测系统平台实现海底电缆巡检的智能化；采用小型水面浮台作为信息传输中转及水下航行器提供二次电能供应极大提高其水下续航能力和连续巡检作业时间；采用MINS/DVL/Visual/GM的组合导航定位方式，实现了水下航行器姿态、速度、位置等导航信息的全面获取，且通过联邦滤波技术实现各导航子系统的数据信息有效融合，提高导航定位信息的精度，满足监测系统低成本、小型化、低功耗、便于安装等技术要求。
The invention provides an intelligent monitoring system and a combined navigation method of an underwater vehicle for inspection of submarine cables. Including autonomous underwater vehicle, surface floating platform and shore station monitoring system. The integrated navigation system includes four sub-navigation systems: MINS, GM, DVL and Visual. The underwater vehicle is used as the intelligent monitoring system platform to realize the intelligence of submarine cable inspection; the small surface floating platform is used as the information transmission transfer and the underwater vehicle provides secondary power supply, which greatly improves its underwater endurance and continuous inspection. Operation time; the integrated navigation and positioning method of MINS/DVL/Visual/GM is used to realize the comprehensive acquisition of navigation information such as attitude, speed, and position of the underwater vehicle, and the data information of each navigation subsystem is effectively fused through federated filtering technology , improve the accuracy of navigation and positioning information, and meet the technical requirements of the monitoring system such as low cost, miniaturization, low power consumption, and easy installation.
Description
Technical field
The present invention relates to a kind of submarine cable cruising inspection systems, and the present invention also relates to a kind of submarine cable cruising inspection systems
Combined navigation locating method.
Background technique
It is short that submarine cable is widely used in power supply between island, offshore work platform power supply, marine wind electric field, across rivers straits
The important events such as journey transmission of electricity, are the important medium and mode of ocean power transmission.However, due to the corrosiveness of seawater, in one's early years
The accidents such as the submarine cable insulating protective layer aging of laying falls off, broken cable occur often, it is vulnerable to ship anchor, underwater in addition
The damage of activity, underwater macro-organism and the movement of underwater ocean current, the electric leakage harm thus caused, power breakdown, person peace
It is complete to threaten and economic problems and be all extremely serious.For this purpose, to guarantee the transmission of electricity safe and stable operation of sea cable and potential to its
Danger carries out early warning, needs to establish effective submarine cable inspection measure.
Traditional submarine cable inspection method specifically includes that (1) periodically sends the underwater inspection of diving personnel, and which is overall
Activity duration is long, take pictures under water evidence obtaining and information record difficulty, low efficiency, risk height and sometimes because the cable laying depth of water is excessive
Diving personnel is caused to be unable to complete patrol task；(2) monitoring device is carried to submerged cable regular visit in surface mother ship lower part, this
Kind method is costly, flexibility ratio is low, and limited serious when carrying out small range and big deep operation.Therefore it realizes based on underwater boat
It is very necessary that the intelligent monitor system of row device, which carries out comprehensive efficient inspection to submarine cable, however navigator fix technology is
Realize the key technology that submarine navigation device independently effectively navigates by water, it is necessary to solve.Conventional navigation positioning system face it is at high cost,
The outstanding problems such as volume is big, power consumption is big, excessively heavy, not easy to install, maintenance cost is high, are unable to satisfy submarine navigation device to navigation
Devices with low cost, miniaturization, the actual demand convenient for waterproof sealing.In addition, single navigator fix mode faces navigator fix letter
The problems such as breath is not comprehensive, accuracy is low, system redundancy reliability is low, it is comprehensively accurate to navigation information to be unable to satisfy submarine navigation device
And the particular requirement of navigation system high reliability.
Summary of the invention
The purpose of the present invention is to provide a kind of seabed electricity that can be realized comprehensive, the high-effect inspection to submarine cable
Cable inspection submarine navigation device intelligent monitor system.The object of the invention is also to provide a kind of based on submarine cable of the invention
The Combinated navigation method of inspection submarine navigation device intelligent monitor system.
Submarine cable inspection submarine navigation device intelligent monitor system of the invention includes Autonomous Underwater Vehicle, water surface floating
Platform and bank station monitoring system；
The head of the Autonomous Underwater Vehicle is hemispherical shell, and there are four forward direction DVL to sense for distribution on the shell of front
Device；The middle part of Autonomous Underwater Vehicle is that elongated cylinder is shelly-shaped, and powered communication integration interface, arch lifting is distributed in upper part
Hook, high-definition tripod camera, its underpart is furnished with underwater luminaire, the symmetrical two DVL sensors in side, autonomous underwater
Multifunctional movement control circuit, information and processing and telecommunication circuit and integrated navigation system are provided in aircraft central bay；
Autonomous Underwater Vehicle tail portion is hemispherical shell, and there are three rudder blades for equal distribution thereon, is connected thereafter by rotary shaft and propeller
It connects；Protection ring is set outside propeller, and the protection ring is connected by bracket and Autonomous Underwater Vehicle tail portion；
The lower part of the housing of the water surface floating platform is hemispherical shell, top be it is round table-like, lower hemisphere shape enclosure interior be connected
There is metal supporting support, power supply box is connected on metal supporting support floor；GPS is installed on the table top of middle part inside water surface floating platform
Receiver and wireless transport module；Water surface floating platform top is equipped with GPS receiving antenna and radio transmission antenna；Water surface floating platform supplies
Telecommunication integration cable connect submarine navigation device powered communication interface with extending out by bottom small circular aperture；
The monitoring station on the bank includes monitoring PC machine and power supply, and monitoring PC machine has data storage and analysis, data
Effect of visualization processing, Image Information Processing function, for receiving underwater back information and underwater monitoring control.
Combinated navigation method based on submarine cable inspection submarine navigation device intelligent monitor system of the invention are as follows: combination
Navigation system includes tetra- sub- navigation system of MINS, GM, DVL, Visual；MINS is by MEMS gyroscope, mems accelerometer
The micro-inertial navigation system of composition is obtained the original output of gyroscope and acceleration by data acquisition circuit, located in advance through data
Reason obtains the angular speed and acceleration information of carrier movement, then integrated process, obtains angle increment and speed and location information, auxiliary
Real-time attitude of carrier information is obtained with starting vector posture information and through quaternion attitude updating algorithm；Three axis magnetic of GM subsystem
Strong meter measures absolute force Vector Message and through ellipsoid fitting compensation correction, then is aided with level inclination through rectangular projection decomposable process
Magnetic heading information is obtained, obtains the carrier course information relative to geographical north orientation through local compass deviation compensation；DVL subsystem passes through sound
Wave transmitting obtains Doppler shift information with reception, the case where considering pinger mounted angle and aircraft athletic posture
Lower decompose through velocity projections obtains carrier velocity information, and initial position obtains real-time position information to integrated process in addition；
Visaul subsystem extracts between image object characteristic point and characteristic point through image information collecting and pretreatment in conjunction with SLAM algorithm
Away from obtaining carrier positions change information, then correspond to time difference by measuring characteristic point through space coordinate transformation to navigational coordinate system
Obtain its velocity information.
Each navigation subsystem provides redundancy navigation information, these redundancy navigation informations simultaneously participate in multi-sensor information fusion
The operation of algorithm, reference each other corrects between them, and navigation information precision and the system redundancy for improving integrated navigation system are reliable
Property and fault-tolerance.
Submarine navigation device intelligent monitor system suitable for submarine cable inspection of the invention include Autonomous Underwater Vehicle,
Water surface floating platform, bank station monitoring system three parts.
Autonomous Underwater Vehicle include aircraft head, in the middle part of aircraft, the main part of aircraft tail portion three, three it
Between in inside be screwed connection, and make waterproof sealing processing using circle in outside；Wherein, aircraft head is hemispherical Shell
Shape is made of waterproof pressure buoyant material, and there are four forward direction DVL sensors for distribution on the shell of front, for autonomous
Submarine navigation device speed-position detection, sound wave launch hole are handled using marine glue；It is that elongated cylinder is shelly-shaped in the middle part of aircraft, using anti-
Powered communication integration interface is distributed in the production of water overpressure resistant buoyance material, upper part, for integrated with water surface floating platform powered communication
Change cable receptacles connection；Arch suspending hook is using the resistance to drawing steel wire production of software, for launching and packing up by small-sized sling cart
Autonomous Underwater Vehicle；High-definition tripod camera realizes all-directional rotation to capture by small-sized horizontal stage electric machine drive control in cabin
Each angular image information and local cable failure point information around submarine cable；Its underpart is furnished with underwater luminaire, and use is low
Supertwist production is pressed, underwater lighting is used for；The symmetrical two DVL sensors in side, for being surveyed to Autonomous Underwater Vehicle
Speed positioning, sound wave launch hole are handled using marine glue；Aircraft tail portion is hemispherical shell, using waterproof pressure buoyant material system
Make, there are three rudder blades for equal distribution thereon, move ahead for stablizing aircraft；It is connect thereafter by rotary shaft with propeller, spiral shell
Multiple degrees of freedom rotation can be realized by control by revolving paddle, provide the thrust of multiple directions for aircraft.It is protected outside propeller for it
Ring is connected, for protecting propeller to wind it by underwater sundries by bracket and aircraft tail portion.It is noted that
It also include multifunctional movement control circuit, information and processing and telecommunication circuit, integrated navigation system etc. in aircraft central bay
Pith, because its is internally positioned, inconvenience is to illustrate.
Water surface floating platform includes water surface floating platform shell, and lower part is hemispherical shell, top be it is round table-like, be all made of light-duty waterproof material
Material production；Lower hemisphere shape enclosure interior is fixed with metal supporting support, and for placing power supply, power supply is logical for battery power source box
Fastening screw is crossed to be connected on mounting bracket floor；GPS receiver and wireless transmission mould are installed on the table top of middle part inside floating platform
Block is used separately as speed-position detection and wireless information transfer；Floating platform top is equipped with GPS receiving antenna and radio transmission antenna,
It is connected by high-tenacity marine glue and floating platform shell.Furthermore floating platform powered communication integration cable passes through floating platform bottom small circular
Aperture with extend out, for connecting submarine navigation device powered communication interface.
The monitoring station on the bank includes monitoring PC machine and power supply, wherein monitoring PC machine has data storage and divides
The functions such as analysis, data visualization effect process, Image Information Processing, for receiving underwater back information and underwater monitoring control.
The present invention, as intelligent monitor system platform, realizes the intelligence of submarine cable inspection using submarine navigation device；It adopts
It uses small-size water surface floating platform to transmit transfer and the secondary electric energy supply of submarine navigation device offer as information, its underwater continuation of the journey is greatly improved
Ability and continuous inspection activity duration；Using the integrated navigation and location mode of MINS/DVL/Visual/GM, underwater boat is realized
The Overall Acquisition of the navigation informations such as row device posture, speed, position, and realize by federated filter technology the number of each navigation subsystem
It is believed that breath effective integration, improves the precision of navigator fix information, meets monitoring system low cost, miniaturization, low-power consumption, is convenient for peace
Dress, the easily technical requirements such as sealing waterproof.Submarine navigation device is contacted with floating platform, is floated by cable (including communications optical cable and power supply line)
Platform overcomes underwater information transmission difficulty, realizes submarine cable inspection letter by wireless transport module and power plant's base station contacts
Breath storage, image information collecting and data return in real time, realize comprehensive, the high-effect inspection to submarine cable.
Detailed description of the invention
Fig. 1 is the submarine cable inspection intelligent monitor system general illustration based on Autonomous Underwater Vehicle.
Fig. 2 is Autonomous Underwater Vehicle structural schematic diagram.
Fig. 3 is integrated navigation system information access process figure.
Fig. 4 is the integrated navigation multi-sensor information fusion schematic diagram based on Federated Filters.
Fig. 5 is submarine cable inspection intelligent monitor system overall workflow figure.
Specific embodiment
It illustrates below and the present invention is described in more detail.
It include: 1- bank in conjunction with Fig. 1 submarine cable inspection intelligent monitor system of the invention based on Autonomous Underwater Vehicle
Upper monitoring station, 1-1 monitor PC machine, 1-2 power supply；2- water surface floating platform, 2-1GPS receiving antenna, 2-2 radio transmission antenna, 2-3GPS
Receiver, 2-4 floating platform shell, 2-5 wireless transport module, 2-6 power supply mounting bracket, 2-7 power supply, 2-8 powered communication integration
Cable；3- UAV navigation.The monitoring station on the bank includes: 1-1 monitoring PC machine and 1-2 power supply, and wherein 1-1 is supervised
Control PC machine has the function of data storage and analysis, data visualization effect process, Image Information Processing etc., for receiving underwater return
Communication breath and underwater monitoring control.The 2- water surface floating platform includes: 2-4 water surface floating platform shell, and lower part is hemispherical shell, top
Be it is round table-like, be all made of light style water-proof materials production；Lower hemisphere shape enclosure interior is fixed with 2-6 power supply supporting support, is used for
2-7 power supply is placed, power supply is that battery power source box is connected on mounting bracket floor by fastening screw；Middle part platform inside floating platform
2-3GPS receiver and 2-5 wireless transport module are installed on face, are used separately as speed-position detection and wireless information transfer；Floating platform is most
Top is equipped with 2-1GPS receiving antenna and 2-2 radio transmission antenna, solid by high-tenacity marine glue and 2-4 floating platform shell
Even.Furthermore 2-8 floating platform powered communication integration cable passes through floating platform bottom small circular aperture and extends out, for connecting 3- water
Lower aircraft powered communication interface.The 3- Autonomous Underwater Vehicle will elaborate in example 2.3-1 aircraft
Head, to DVL sensor before 3-2, in the middle part of 3-3 aircraft, 3-4 powered communication integration interface, 3-5 suspending hook, at the top of 3-6
High-definition tripod camera, 3-7 headlamp, the side 3-8 DVL sensor, 3-9 aircraft tail portion, 3-10 aircraft rudder blade, 3-11 spiral
Paddle, 3-12 propeller retaining ring, 3-13 waterproof grommet.
It is specifically included in conjunction with Fig. 2 Autonomous Underwater Vehicle structure: 3-1 aircraft head, 3-3 aircraft middle part, 3-9 navigation
The main part of device tail portion three is screwed connection in inside between three, and is made in outside using 3-13 waterproof grommet
Waterproof sealing processing；Wherein, 3-1 aircraft head is hemispherical shell, is made of waterproof pressure buoyant material, front shell
There are four, to DVL sensor, be used for 3- Autonomous Underwater Vehicle speed-position detection, sound wave launch hole is adopted before 3-2 for distribution on body
It is handled with marine glue；It is that elongated cylinder is shelly-shaped in the middle part of 3-3 aircraft, is made of waterproof pressure buoyant material, upper part distribution
There is 3-4 powered communication integration interface, for connecting with 2-8 water surface floating platform powered communication integration cable；The lifting of 3-5 arch is hung
Hook is using the resistance to drawing steel wire production of software, for launching and packing up 3- Autonomous Underwater Vehicle by small-sized sling cart；3-6 high definition cloud
Platform camera realizes all-directional rotation to capture each angular image around submarine cable by small-sized horizontal stage electric machine drive control in cabin
Information and local cable failure point information；Its underpart is furnished with 3-7 underwater luminaire, is made, is used for of low pressure supertwist
Underwater lighting；The symmetrical two 3-8DVL sensors in side, for Autonomous Underwater Vehicle speed-position detection, sound wave transmitting
Hole is handled using marine glue；3-9 aircraft tail portion is hemispherical shell, is made of waterproof pressure buoyant material, thereon equal equal part
There are three 3-10 rudder blades for cloth, move ahead for stablizing aircraft；It is connect thereafter by rotary shaft with 3-11 propeller, 3-11 spiral
Paddle can realize multiple degrees of freedom rotation by control, provide the thrust of multiple directions for 3- aircraft.It is it outside 3-11 propeller
3-12 protection ring is connected, for protecting 3-11 propeller to twine it by underwater sundries by bracket and 3-9 aircraft tail portion
Around.It is noted that also include in aircraft central bay multifunctional movement control circuit, information and processing and communicate electricity
The piths such as road, integrated navigation system, because its is internally positioned, inconvenience is to illustrate.
Be described as follows in conjunction with Fig. 3 integrated navigation system information access process: integrated navigation system includes MINS/GM/
Tetra- sub- navigation system of DVL/Visual, integrated navigation information derive from each sub- navigation system of system, and MINS is by MEMS gyro
The micro-inertial navigation system of instrument, mems accelerometer composition obtains the original of gyroscope and acceleration by data acquisition circuit
Output obtains the angular speed and acceleration information of carrier movement, then integrated process through data prediction, obtains angle increment and speed
Degree and location information；It is aided with starting vector posture information and obtains real-time attitude of carrier information through quaternion attitude updating algorithm；
GM subsystem high-precision three axis magnetometer measures absolute force Vector Message and through ellipsoid fitting compensation correction, then is aided with level and inclines
Angle can be obtained magnetic heading information through rectangular projection decomposable process, be the load obtained relative to geographical north orientation through local compass deviation compensation
Body course information；DVL subsystem is emitted by sound wave and receives acquisition Doppler shift information, is considering pinger installation
It can be obtained carrier velocity information through velocity projections decomposition in the case where inclination angle and aircraft athletic posture, integrated process adds
Initial position can be obtained real-time position information；Visaul subsystem is calculated through image information collecting and pretreatment in conjunction with SLAM
Method extracts image object characteristic point and characteristic point spacing, through space coordinate transformation to navigational coordinate system, can be obtained carrier position
Change information is set, obtains its velocity information corresponding to time difference by measurement characteristic point；It is noted that the subsystem that respectively navigates
System provides redundancy navigation information, these information simultaneously participate in the operation of multi-sensor Fusion Algorithm, is mutual between them
For with reference to correction, to improve the navigation information precision and system redundancy reliability and fault-tolerance of integrated navigation system.
It is illustrated in conjunction with Fig. 4 based on the integrated navigation multi-sensor information fusion principle of Federated Filters: the present invention
Employed in multi-sensor data information integration program as shown in figure 4, be Federated Kalman Filtering structure, MINS have in short-term
The feature that precision is high, information is comprehensive, is selected as frame of reference herein；DVL has the characteristics that speed-position detection is with high accuracy, is used for regular school
Positive MINS speed, location information；GM has the characteristics that heading measure is with high accuracy for regular calibration MINS course information；Visual
Equally have the function of superior speed-position detection and data output frequencies are high, in GPS signal losing lock, continues as system offer
Speed, reference position information.DVL, GM, Visual subsystem are all made of no reset and feedback structure, ensure that each local filter
Independently of each other, it does not interfere with each other, provides highest error resilience performance, finally, the multi-sensor data information based on Federated Filters
Integration program improves the precision and fault-tolerant ability of integrated navigation.Symbol is Kalman filter equation conventional symbol in figure,
This repeats no more its meaning.
In conjunction with Fig. 5, submarine cable inspection intelligent monitor system workflow is specific as follows:
Step 1, by entire submarine cable inspection intelligent monitor system, including submarine navigation device, water surface floating platform and monitoring PC
Machine, transport to bank.System correct wiring, and startup self-detection, mainly check whether each subsystem works and monitor PC machine and connect
It whether normal receives data, enters step 2.
Step 2, after determining that system components can work normally, using small-sized sling cart by submarine navigation device and water surface floating
Platform is thrown in the water of bank, enters step 3.
Step 3, integrated navigation system, camera image acquisition system, the kinetic control system etc. that submarine navigation device carries are opened
Beginning work searches for submarine cable, enters step 4 to support the autonomous dive of submarine navigation device.
Step 4, submarine navigation device searches submarine cable by visual sensor and acoustic Doppler sensor, high at this time
Clear holder camera is started to work, and carries out evidence obtaining of taking pictures to submarine cable and its ambient enviroment, while submarine navigation device ontology is in group
It closes under navigation system and kinetic control system coordinative role, along submarine cable inspection, enters step 5.
Step 5, submarine navigation device itself carries data storage and transmission module are by submarine navigation device ontology kinematic parameter
Information and sea cable inspection image information real-time storage, and water surface floating platform wireless receiving and dispatching is transmitted information to by subsurface communication optical cable
Module, water surface floating platform pass through wireless transmission method as data transmission transfer again and data are transmitted back to bank station monitoring PC machine in real time,
The power supply that water surface floating platform carries simultaneously can provide secondary electric energy for submarine navigation device ontology, enhance its cruising ability, into step
Rapid 6.
Step 6, judge whether find submarine cable fault point during inspection.If it was found that fault point, then enter step
7；Otherwise, into return step 4.
Step 7, once discovery submarine cable has failure and special point, submarine navigation device will do the fixed high hovering of fixed point, by
MINS/DVL/Visual combination realizes the precise measurement of horizontal position and elevation information, and by kinetic control system
Accomplish that three-dimensional position precisely hovers, is conducive to holder camera in this way and takes pictures evidence obtaining, pass through holder camera and shoot multiple groups specific photographs
Piece, and position of failure point information is recorded to establish fault point information parameter, it by these information preservations and returns, enters step 8.
Step 8, judge whether the inspection to submarine cable finishes.If submarine navigation device continues to cruise along sea cable extended spot,
Fail to find sea cable, is considered as inspection and finishes, then enter step 9；Otherwise, into return step 6.
Step 9, once it is determined that submarine cable whole process inspection finishes, monitoring station is issued by PC machine to submarine navigation device on the bank
It makes a return voyage instruction, submarine navigation device independently floats under the functional subsystems co-ordination such as integrated navigation system, kinetic control system.
So far, intelligent monitor system completes the inspection work to submarine cable.
Claims (4)
1. a kind of submarine cable inspection submarine navigation device intelligent monitor system, including Autonomous Underwater Vehicle, water surface floating platform and
Bank station monitoring system, it is characterized in that:
The head of the Autonomous Underwater Vehicle is hemispherical shell, and there are four forward direction DVL sensors for distribution on the shell of front；From
The middle part of main submarine navigation device be elongated cylinder it is shelly-shaped, upper part be distributed with powered communication integration interface, arch suspending hook,
High-definition tripod camera, its underpart are furnished with underwater luminaire, the symmetrical two DVL sensors in side, autonomous underwater navigation
Multifunctional movement control circuit, information and processing and telecommunication circuit and integrated navigation system are provided in device central bay；Independently
Submarine navigation device tail portion is hemispherical shell, and there are three rudder blades for equal distribution thereon, is connect thereafter by rotary shaft with propeller；
The lower part of the housing of the water surface floating platform is hemispherical shell, top be it is round table-like, lower hemisphere shape enclosure interior is fixed with gold
Belong to supporting support, power supply box is connected on metal supporting support floor；GPS receiver is installed on the table top of middle part inside water surface floating platform
Machine and wireless transport module；Water surface floating platform top is equipped with GPS receiving antenna and radio transmission antenna；The power supply of water surface floating platform is logical
Believe that integrated cable connect submarine navigation device powered communication interface with extending out by bottom small circular aperture；
The monitoring station on the bank includes monitoring PC machine and power supply, and monitoring PC machine has data storage and analysis, data visualization
Change effect process, Image Information Processing function, for receiving underwater back information and underwater monitoring control.
2. submarine cable inspection submarine navigation device intelligent monitor system according to claim 1, it is characterized in that: propeller
Outside setting protection ring, the protection ring are connected by bracket and Autonomous Underwater Vehicle tail portion.
3. a kind of integrated navigation side based on submarine cable inspection submarine navigation device intelligent monitor system described in claim 1
Method, it is characterized in that: integrated navigation system includes tetra- sub- navigation system of MINS, GM, DVL, Visual；MINS is by MEMS gyro
The micro-inertial navigation system of instrument, mems accelerometer composition obtains the original of gyroscope and acceleration by data acquisition circuit
Output obtains the angular speed and acceleration information of carrier movement, then integrated process through data prediction, obtains angle increment and speed
Degree and location information are aided with starting vector posture information and obtain real-time attitude of carrier information through quaternion attitude updating algorithm；
The three axis magnetometer of GM subsystem measures absolute force Vector Message and through ellipsoid fitting compensation correction, then is aided with level inclination warp
Rectangular projection decomposable process obtains magnetic heading information, obtains the carrier heading device relative to geographical north orientation through local compass deviation compensation
Breath；DVL subsystem is emitted by sound wave and receives acquisition Doppler shift information, is considering pinger mounted angle and boat
It is decomposed in the case where row device athletic posture through velocity projections and obtains carrier velocity information, initial position obtains integrated process in addition
Obtain real-time position information；Visaul subsystem extracts image object in conjunction with SLAM algorithm through image information collecting and pretreatment
Characteristic point and characteristic point spacing obtain carrier positions change information through space coordinate transformation to navigational coordinate system, then pass through measurement
Characteristic point corresponds to time difference and obtains its velocity information.
4. Combinated navigation method according to claim 3, it is characterized in that: each navigation subsystem provides redundancy navigation information,
These redundancy navigation informations simultaneously participate in the operation of multi-sensor Fusion Algorithm, reference correction each other between them.
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