CN115790579A - A deep sea underwater unmanned vehicle inertial navigation method, system, equipment and medium - Google Patents

Abstract

The present invention relates to the field of UUV navigation technology, in particular to a method, system, equipment and medium for deep-sea underwater unmanned vehicle inertial navigation. Initially align the position information output by the satellite positioning device, and check whether the fiber optic inertial navigation system has received the calibration command. Optimal estimation of navigation parameters; if the calibration instruction is received, after the initial alignment of the fiber optic inertial navigation system is successful, according to whether the underwater unmanned vehicle needs to perform tasks, it will enter the calibration and task execution mode or the calibration only mode. . The present invention solves the problem of the working sequence of the INS in the whole process from deployment, underwater task execution to recovery of large-depth UUVs by dividing the three situations of only performing tasks, performing tasks after calibration and only requiring calibration.

Description

A deep sea underwater unmanned vehicle inertial navigation method, system, equipment and medium

technical field

The invention relates to the technical field of UUV navigation, in particular to an inertial navigation method, system, equipment and medium for a deep-sea underwater unmanned vehicle.

Background technique

At present, most unmanned underwater vehicles (UUV) are equipped with an inertial navigation system (INS) based on optical fiber/laser gyro. Since the diving depth of UUV generally does not exceed 1000m, the inertial The navigation method adopted by the navigation system is relatively simple, usually using a combination of INS and Doppler velocity log (DVL) or INS and a global navigation satellite system (GNSS).

However, GNSS information can only be received when the UUV is surfaced or near the water surface. It is not applicable to large-depth UUVs with a diving depth of more than 1000m, and the existing INS navigation method is not suitable for large-depth UUVs. For example: when the working depth exceeds 6000 meters , the requirements for UUV navigation accuracy and other aspects will be more stringent.

Contents of the invention

The invention provides an inertial navigation method, system, equipment and medium for deep-sea underwater unmanned vehicles. Poor accuracy.

In order to solve the above technical problems, the present invention provides an inertial navigation method, system, equipment and medium for deep sea underwater unmanned vehicles.

In the first aspect, the present invention provides a deep-sea underwater unmanned vehicle inertial navigation method, which uses an integrated navigation system installed on the underwater unmanned vehicle. The integrated navigation system includes an optical fiber inertial navigation system and a satellite positioning device. , Doppler velocimeter and depth gauge, described satellite positioning device comprises satellite positioning receiver and hydroacoustic positioning system, and described method comprises the following steps:

Conduct self-inspection on the integrated navigation system, and deploy the underwater unmanned vehicle after the self-inspection passes;

Use the position information output by the satellite positioning device to start the initial alignment, and check whether the optical fiber inertial navigation system has received the calibration command. If the calibration command is not received, after the initial alignment of the optical fiber inertial navigation system is successful, enter the task-only working condition , to complete the combined navigation;

If the calibration instruction is received, after the initial alignment of the fiber-optic inertial navigation system is successful, it is judged whether the underwater unmanned vehicle needs to perform a task. Calibration only;

After the navigation mission is finished, the optimal estimation of the navigation parameters is obtained.

In a further embodiment, the task-only operating conditions include:

Receive the position information of the satellite positioning receiver, and control the underwater unmanned vehicle to reach the preset dive point;

Use the position information of the satellite positioning receiver to calibrate the water surface of the dive point, and control the underwater unmanned vehicle to start diving after the water surface calibration of the dive point is completed;

Combined navigation calculation is performed according to the position information of the satellite positioning device to obtain the optimal estimation of navigation parameters;

When completing the navigation mission, the underwater unmanned vehicle floats to the surface of the water and performs position display and recovery to complete integrated navigation.

In a further embodiment, the only calibration conditions include:

Use the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter to calibrate the fiber optic inertial navigation system, and perform secondary alignment on the water surface for the fiber optic inertial navigation system;

After the calibration is completed, the underwater unmanned vehicle is recovered.

In a further embodiment, the calibration and task execution conditions include:

Use the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter to calibrate the fiber optic inertial navigation system, and after the calibration is completed, perform secondary alignment on the water surface of the fiber optic inertial navigation system;

After the secondary alignment is completed, the position information of the satellite positioning receiver is received, and the underwater unmanned vehicle is controlled to reach the preset dive point;

Use the position information of the satellite positioning receiver to calibrate the water surface of the dive point, and control the underwater unmanned vehicle to start diving after the water surface calibration of the dive point is completed;

Combined navigation calculation is performed according to the position information of the satellite positioning device to obtain the optimal estimation of navigation parameters;

When completing the navigation mission, the underwater unmanned vehicle floats to the surface of the water and performs position display and recovery to complete integrated navigation.

In a further embodiment, the step of performing integrated navigation calculation according to the position information of the satellite positioning device to obtain the optimal estimation of the navigation parameters includes:

Collect the integrated navigation information output by the integrated navigation system; wherein, the integrated navigation information includes the angular velocity information and acceleration information output by the fiber optic inertial navigation system, the position information output by the underwater acoustic positioning system, the speed information output by the Doppler velocimeter, the depth The depth information output by the meter;

Underwater calibration of fiber optic inertial navigation system using integrated navigation information based on linear Kalman model;

Using the integrated navigation information to perform integrated navigation calculation, and correct the error of the integrated navigation system to obtain the optimal estimation of navigation parameters; wherein, the optimal estimation of navigation parameters includes the real-time speed, position and attitude of the optical fiber inertial navigation system.

In a further embodiment, when using the integrated navigation information to calibrate the fiber optic inertial navigation system underwater, the state space model of the integrated navigation system is:

in,

In the formula, X _k represents the n-dimensional state vector of the integrated navigation system at time k; Φ _{k, k-1 represents} the state transition matrix from time (k-1) to time k; 1) Noise allocation matrix from time to time k; W _k-1 represents the system noise vector; Z _k represents the observation vector at time k; H _k represents the observation matrix at time k; V _k represents the observation noise vector at time k; λ _UAPS Indicates the longitude output by the underwater acoustic positioning system; L _UAPS indicates the latitude output by the underwater acoustic positioning _system ; h _DG indicates the depth information output by the depth gauge; λ _INS indicates the longitude output by the optical fiber inertial navigation system; Latitude; h _INS represents the depth information output by the fiber optic inertial navigation system.

In a further embodiment, the fiber optic inertial navigation system includes a three-axis fiber optic gyro combination, a quartz flexible accelerometer, an I/F conversion current, a DC power supply, a navigation computer and navigation software;

Wherein, navigation computer comprises FPGA, DSP, ARM and power supply module, and described navigation computer is used for regularly collecting the position information that satellite positioning device outputs and the velocity information that Doppler speedometer outputs through two-way RS422 interface;

The FPGA is used to receive the digital signal output by the optical fiber inertial navigation system and the temperature sensor through two I/O isolation signal lines and one RS422 interface, and trigger the DSP external interrupt;

The DSP is used to read and use the digital signal collected by the FPGA to perform navigation calculation, and return the optimal estimation of the navigation parameters after calculation to the FPGA through an interrupt.

In a second aspect, the present invention provides a deep sea underwater unmanned vehicle inertial navigation system, the system comprising:

The system self-inspection module is used for self-inspection of the integrated navigation system, and deploys the underwater unmanned vehicle after the self-inspection passes;

The initial alignment module is used to use the position information output by the satellite positioning device to start initial alignment, and detect whether the optical fiber inertial navigation system has received a calibration instruction. If the calibration instruction is not received, the initial alignment of the optical fiber inertial navigation system is successful. , enter the task only execution mode, and complete the combined navigation;

The task judging module is used to judge whether the underwater unmanned vehicle needs to perform a task after the initial alignment of the fiber optic inertial navigation system is successful if the calibration command is received, and if it needs to perform the task, enter the calibration and task execution mode, Complete the integrated navigation; otherwise, enter the calibration-only working condition;

The data output module is used to obtain the optimal estimation of navigation parameters after the navigation mission is completed.

In a third aspect, the present invention also provides a computer device, including a processor and a memory, the processor is connected to the memory, the memory is used to store computer programs, and the processor is used to execute the program stored in the memory. A computer program, so that the computer device executes the steps to realize the above method.

In a fourth aspect, the present invention also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method are implemented.

The present invention provides an inertial navigation method, system, equipment and medium for deep-sea underwater unmanned vehicles. The method solves the problem of large-depth UUV from The working timing of the INS in the whole process of deployment, underwater mission execution and recovery. Compared with the existing technology, this method proposes an integrated navigation scheme and integrated navigation algorithm for large-depth UUV inertial navigation, and configures a navigation computer design scheme, which not only considers the navigation of large-depth underwater unmanned vehicles, but also can target Calibrate and perform tasks in different situations; in addition, the navigation computer provided by the invention has the advantages of high integration, small size, low power consumption, etc., improves navigation accuracy and adaptability to complex environments, and has broad application prospects.

Description of drawings

Fig. 1 is a schematic flow chart of a deep sea underwater unmanned vehicle inertial navigation method provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of an integrated navigation system provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of the hardware structure of the navigation computer provided by the embodiment of the present invention;

Fig. 4 is a schematic diagram of the working sequence of the INS only executing tasks provided by the embodiment of the present invention;

Fig. 5 is a schematic diagram of the INS calibration-only working sequence provided by the embodiment of the present invention;

Fig. 6 is a schematic diagram of the working sequence of INS calibration and task execution provided by the embodiment of the present invention;

Fig. 7 is a schematic diagram of the electrical connection structure of the integrated navigation system provided by the embodiment of the present invention;

Fig. 8 is a schematic diagram of an INS workflow provided by an embodiment of the present invention;

Fig. 9 is a schematic diagram of the INS inertial navigation integrated navigation provided by the embodiment of the present invention;

Fig. 10 is a flow chart of INS integrated navigation provided by the embodiment of the present invention;

Fig. 11 is a block diagram of an inertial navigation system for a deep-sea underwater unmanned vehicle provided by an embodiment of the present invention;

Fig. 12 is a schematic structural diagram of a computer device provided by an embodiment of the present invention.

Detailed ways

The embodiment of the present invention will be explained in detail below in conjunction with the accompanying drawings. The examples given are only for the purpose of illustration, and cannot be interpreted as limiting the present invention. The accompanying drawings are only for reference and description, and do not constitute the scope of patent protection of the present invention. limitations, since many changes may be made in the invention without departing from the spirit and scope of the invention.

Referring to Fig. 1, an embodiment of the present invention provides a deep sea underwater unmanned vehicle inertial navigation method, as shown in Fig. 1, the method includes the following steps:

S1. Perform self-inspection on the integrated navigation system, and deploy the underwater unmanned vehicle after the self-inspection passes.

In this embodiment, the integrated navigation system controls the underwater unmanned vehicle to be powered on, and the optical fiber inertial navigation system (INS), satellite positioning device (GNSS), Doppler velocimeter (DVL) in the integrated navigation system ) after self-inspection respectively, deploy the underwater unmanned vehicle (UUV) on the shore or on the mother ship. , the UUV is carried by the mother ship to the predetermined sea area. After arriving, the mother ship is in a floating state, and the initial alignment is performed on the mother ship.

As shown in Figure 2, the deep-sea underwater unmanned vehicle applied in this embodiment includes an integrated navigation system installed on the underwater unmanned vehicle, and the integrated navigation system includes a fiber optic inertial navigation system (INS), a satellite positioning device (GNSS), Doppler velocimeter (DVL), depth gauge and host computer; among them, the fiber optic inertial navigation system is the center and core of the entire integrated navigation system, and the fiber optic inertial navigation system includes a three-axis fiber optic gyro combination, a quartz Accelerometer, I/F conversion current, DC power supply, navigation computer and navigation software; Described satellite positioning device comprises satellite positioning receiver and hydroacoustic positioning system, in the present embodiment, satellite positioning system (global navigation satellite system, GNSS) and Doppler Velocity Log (DVL) can choose mature off-the-shelf products. At the same time, considering the future compatibility with Beidou satellite navigation solutions, choose a Beidou/GPS-compatible satellite navigation chip as a reference for positioning information.

Among them, as shown in Figure 3, the navigation computer includes FPGA, DSP, ARM, crystal oscillator, JTAG, SDRAM, FLASH and power supply module. It should be noted that traditional computer hardware adopts the hardware structure of FPGA, DSP and FLASH combination. And what this embodiment adopts is the hardware structure that FPGA, DSP, ARM, DDR and 2 FLASHs combine, the hardware structure of this embodiment is in the reliability of data processing efficiency, processing speed, reading and storage speed, storage, storage capacity. And other performance indicators have been improved, and the hardware structure and functions of the navigation computer provided by this embodiment are described as follows:

(1) Timely collect digital signals of satellite positioning device (GPS/Beidou 2 in 1) and Doppler Velocimeter (DVL) through two RS422 interfaces;

(2) Receive the digital signal of the inertial measurement unit IMU (including three gyroscopes, three accelerometers, and one temperature sensor) through two I/O isolation signal lines and one RS422 interface;

(3) The expansion board is used for information collection and packaged transmission of external inertial navigation sources, and the core board is used for receiving and processing external signals (external inertial navigation sources and external information sources) (including initial alignment, navigation parameter calculation and integrated navigation, etc.) , and output the navigation information at the processing location to the carrier through the serial port;

(4) It has the storage and download functions of the original data of the external inertial navigation source, the original data of the external information source, and the navigation information data calculated; data) and get the original data after preprocessing, send interrupt and other instructions to DSP to let DSP read the data, DSP reads the original data from FPGA and stores it in DDR2 (temporary storage), ARM reads DE1 original data in DDR2 And stored in FLASH-1 (permanent storage), DSP uses the original data to perform navigation calculations, stores the obtained navigation information in the synchronous dynamic random access memory, and stores it in the FLASH-1 by the ARM, and the information stored in each memory The specific content is: FLASH-1 stores programs running in DSP and ARM, raw data, instruction information, and navigation information, DDR2 is used to temporarily store raw data and navigation information, FLASH-2 stores programs running in FPGA, and the network port is used for Update programs, download raw data, instruction information and navigation information;

(5) Power supply voltage: The power supply module converts the input 28V voltage into the power supply voltage required by each module, mainly including the following voltages: +5V, ±5V and ±15V, the core board and the expansion board input +5V voltage, and are controlled by their respective The power management circuit on the board converts the required voltage; the voltage required by the laser gyroscope, accelerometer and temperature sensor is ±5V, ±15V and +5V respectively;

(6) DSP, ARM and FPGA chips are debugged through JTAG interface and network port.

It should be noted that in Figure 3, the "debugging computer" in the dotted box indicates the equipment that needs to be connected only when debugging or downloading data on the shore, and the navigation computer does not need to be debugged when the carrier is working underwater.

In this embodiment, the navigation software is an important part of the integrated navigation system. The host computer circuit of the software is a navigation computer, and the navigation software is solidified in the Flash of the computer. The functions of the navigation software are as follows:

a) Initialization of the navigation computer circuit; after the combined navigation is powered on, the software must complete the initialization of the navigation computer circuit, including: various configurations of DSP, initialization of the communication port of the fiber optic gyroscope, initialization of the communication port on UUV and other carriers, and timers settings etc.

b) Data collection; the data collection period is 5ms, and the data collected by the software includes data from three fiber optic gyroscopes and three quartz flexible accelerometers.

c) Error model compensation calculation: After the navigation software completes data collection, it calculates according to the error compensation model to obtain the angle increment and speed increment of this cycle.

d) Complete the navigation calculation; the software completes the real-time update of the attitude according to the navigation calculation algorithm and the attitude correction algorithm, and at the same time completes the calculation of the angular rate of the corresponding attitude.

e) Communication with the comprehensive control computer and test equipment of the carrier; the communication mode between the integrated navigation and the comprehensive control computer and test system of the carrier is two-way, and the integrated navigation adopts different data transmission methods according to different data requests from the mine computer or test equipment.

f) Program and parameter update; the navigation software can realize the online upgrade of the software and the update of the error compensation parameters, receive the file sent by the test system through the communication port, write the file into Flash, and realize the online upgrade or parameter update of the navigation software.

g) The INS/GNSS/DVL integrated navigation receiver receives the GNSS position information through the internal satellite receiver, and receives the DVL speed information through the external serial interface, and judges the validity of the information on the basis of inertial navigation. The external auxiliary information is used for integrated navigation settlement, and the integrated navigation system error is corrected to suppress the error growth of the integrated navigation system. When conditions permit, the DVL error is corrected to improve the integrated navigation accuracy of the carrier under water.

Specifically, the workflow of the navigation software is as follows: after the integrated navigation system is powered on and started, the DSP loads the navigation software from Flash to the SRAM to start running. After the navigation software completes the hardware initialization, it enters the real-time working mode, that is, collects the gyroscope and acceleration every 5ms Calculate data, perform compensation calculation, and wait for external commands at the same time. When the external command comes, it will start navigation calculation, data transmission, parameter update, program update and other tasks according to the received command. The software is divided into main program and timing interrupt. Subroutine and external command interrupt processing subroutine are three relatively independent parts. The main program completes software and hardware initialization, timer setting, gyroscope data acquisition, accelerometer data acquisition, compensation calculation, navigation calculation, attitude correction, error correction, Fault diagnosis and other tasks; the timer interrupt subroutine completes the gyroscope and accelerometer data acquisition flag operation; the external command interrupt processing subroutine completes tasks such as command recognition, analysis, and data transmission; the navigation software includes the lower layer and the top layer, and the lower layer software includes sensor data Acquisition, preprocessing (such as: filtering), storage, reading and sending, processing of flag bits, interrupts between chips, I/O, reset, chip select signals, read/write control, etc.; the top-level software mainly includes Navigation software running in FPGA and DSP.

S2. Use the position information output by the satellite positioning device to start the initial alignment, and check whether the optical fiber inertial navigation system has received the calibration command. If the calibration command is not received, after the initial alignment of the optical fiber inertial navigation system is successful, enter the mission-only Working condition, complete the combined navigation.

In one embodiment, as shown in FIG. 4 , the task-only operating conditions include:

Receive the position information of the satellite positioning receiver, and control the underwater unmanned vehicle to reach the preset dive point;

Use the position information of the satellite positioning receiver to calibrate the water surface of the dive point, and control the underwater unmanned vehicle to start diving after the water surface calibration of the dive point is completed;

Combined navigation calculation is performed according to the position information of the satellite positioning device to obtain the optimal estimation of navigation parameters;

When completing the navigation mission, the underwater unmanned vehicle floats to the surface of the water and performs position display and recovery to complete integrated navigation.

Specifically, as shown in Figure 4, this embodiment detects in real time whether a calibration command is received during the alignment process, and when the calibration command is not received or the fiber optic inertial navigation system (INS) has been calibrated and does not need to be re-calibrated, the fiber optic The inertial navigation system only performs the task, that is, after the initial alignment is successful, it receives the position information of the satellite positioning receiver for integrated navigation. After the UUV reaches the predetermined dive point under the control of the operator or the mother ship, the central control unit of the UUV starts to issue instructions. Execute the navigation mission task command, and the fiber optic inertial navigation system (INS) starts to execute the navigation mission task, specifically: the fiber optic inertial navigation system uses the position information of the satellite positioning receiver to calibrate the water surface before diving, and after the water surface calibration before diving, control The UUV starts to dive, and after the UUV reaches the predetermined depth, it starts to perform the navigation mission. After the navigation mission is over, the UUV floats up. After the UUV reaches the water surface, it uses GNSS or strobe lights to display its position.

It should be noted that when the fiber-optic inertial navigation system only performs tasks, the upward solid double arrows in Fig. 4 indicate processes that must exist, and the upward dashed arrows indicate possible processes, and the times at which each process occurs (relative time values ) or the time interval between processes is not given, it means an uncertain moment or time interval; in addition, during the underwater cruising process, the sound wave of the DVL will not be able to detect the seabed. If the DVL is in this state for a long time, The accuracy of the INS will be close to the accuracy of pure inertial navigation; this embodiment takes a large-depth AUV as an example, which is in a pure inertial navigation state when diving, and for a small-depth AUV, it is generally in an integrated navigation state when diving.

S3. If the calibration command is received, after the initial alignment of the fiber optic inertial navigation system is successful, it is judged whether the underwater unmanned vehicle needs to perform a task, and if it needs to perform a task, enter the calibration and task execution mode to complete the integrated navigation; Otherwise, enter into the calibration-only working condition.

Specifically, in this embodiment, during the initial alignment process, if it is detected that the fiber optic inertial navigation system has received a calibration command, after the fiber optic inertial navigation system is initially aligned successfully, the INS starts to calibrate. After the calibration is completed, there are two situations:

The first type: It is not necessary to perform tasks near the end of the calibration voyage, and only calibration is required. The timing diagram of INS calibration-only work is shown in Figure 5; The whole process of process execution;

The second type: the task needs to be performed near the end of the calibrated voyage, and the task is continued according to the above-mentioned situation where the optical fiber inertial navigation system only performs the task, as shown in Figure 6.

In one embodiment, as shown in FIG. 5, the calibration-only working conditions include:

Use the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter to calibrate the fiber optic inertial navigation system, and perform secondary alignment on the water surface for the fiber optic inertial navigation system;

After the calibration is completed, the underwater unmanned vehicle is recovered.

In one embodiment, as shown in Figure 6, the calibration and execution task conditions include:

Use the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter to calibrate the fiber optic inertial navigation system, and after the calibration is completed, perform secondary alignment on the water surface of the fiber optic inertial navigation system;

After the secondary alignment is completed, the position information of the satellite positioning receiver is received, and the underwater unmanned vehicle is controlled to reach the preset dive point;

Use the position information of the satellite positioning receiver to calibrate the water surface of the dive point, and control the underwater unmanned vehicle to start diving after the water surface calibration of the dive point is completed;

Combined navigation calculation is performed according to the position information of the satellite positioning device to obtain the optimal estimation of navigation parameters;

When completing the navigation mission, the underwater unmanned vehicle floats to the surface of the water and performs position display and recovery to complete integrated navigation.

In one embodiment, the step of performing integrated navigation calculation according to the position information of the satellite positioning device to obtain the optimal estimation of navigation parameters includes:

Collect the integrated navigation information output by the integrated navigation system; wherein, the integrated navigation information includes the angular velocity information and acceleration information output by the fiber optic inertial navigation system, the position information output by the underwater acoustic positioning system, the speed information output by the Doppler velocimeter, the depth The depth information output by the meter;

Underwater calibration of fiber optic inertial navigation system using integrated navigation information based on linear Kalman model;

Using the integrated navigation information to perform integrated navigation calculation, and correct the error of the integrated navigation system to obtain the optimal estimation of navigation parameters; wherein, the optimal estimation of navigation parameters includes the real-time speed, position and attitude of the optical fiber inertial navigation system.

In this embodiment, when the large-depth UUV performs underwater operations, this embodiment adopts an underwater calibration algorithm based on an underwater acoustic positioning system, wherein the state space model of the integrated navigation system is:

in,

When performing underwater calibration, the inertial navigation is in the combined mode of INS, Underwater acoustic positioning system (UAPS) and depth gauge (DG), Z _k and H _k are respectively:

X_k表示k时刻组合导航系统的n维状态向量，其中，φ_E、φ_N、φ_U分别表示东、北、天方向上的姿态误差，δv_E、δv_N、δv_U分别表示东、北、天方向上的速度误差，δλ、δL、δh分别表示经度、纬度和高度的误差，ε_E、ε_N、ε_U分别表示东、北、天方向上的陀螺常值漂移误差，

分别表示东、北、天方向上的加速度计零偏误差；Φ_k，k-1表示从(k-1)时刻到k时刻的状态转移矩阵；Γ_k，k-1表示从(k-1)时刻到k时刻的噪声分配矩阵；W_k-1表示系统噪声向量；Z_k表示k时刻的观测向量；H_k表示k时刻的观测矩阵；V_k表示k时刻的观测噪声向量，W_k-1、V_k均是零均值的高斯白噪声向量序列，且互不相关；λ_UAPS表示水声定位系统输出的经度；L_UAPS表示水声定位系统输出的纬度；h_DG表示深度计输出的深度信息；λ_INS表示光纤惯性导航系统输出的经度；L_INS表示光纤惯性导航系统输出的纬度；h_INS表示光纤惯性导航系统输出的深度信息。In the formula,

X _k represents the n-dimensional state vector of the integrated navigation system at time k, where φ _E , φ _N , and φ _U represent the attitude errors in the east, north, and sky directions, respectively, and δv _E , δv _N , and δv _U represent the east and north directions, respectively. , the speed error in the sky direction, δλ, δL, and δh represent the errors of longitude, latitude, and height respectively, and ε _E , ε _N , ε _U represent the gyro constant drift errors in the east, north, and sky directions, respectively,

respectively represent the accelerometer zero bias error in the east, north and sky directions; Φ _{k, k-1} represents the state transition matrix from (k-1) time to k time; Γ _{k, k-1} represents the state transition matrix from (k-1 ) to time k; W _k-1 represents the system noise vector; Z _k represents the observation vector at k time; H _k represents the observation matrix at k time; V _k represents the observation noise vector at k time, W _{k- 1.} V _k is a zero-mean Gaussian white noise vector sequence, and is not correlated with each other; λ _UAPS represents the longitude output by the underwater acoustic positioning system; L _UAPS represents the latitude output by the underwater acoustic positioning system; h _DG represents the depth output by the depth gauge Information; λ _INS represents the longitude output by the fiber-optic inertial navigation system; L _INS represents the latitude output by the fiber-optic inertial navigation system; h _INS represents the depth information output by the fiber-optic inertial navigation system.

It should be noted that, in the case of underwater calibration in this embodiment, the position information comes from the underwater acoustic positioning system of the mother ship. At the same time, in this embodiment, after the alignment is completed, before the start of integrated navigation or during the integrated navigation, GNSS can be used to monitor the INS Perform several calibrations, and when debugging the INS without receiving GNSS signals (for example: debugging the inertial navigation in the workshop or laboratory), the central control unit can be used to send position information to assist the INS to complete the alignment.

Figure 7 describes the electrical connection relationship of the entire UUV integrated navigation system. The INS is the center and core of the integrated navigation system. The debugging computer is only used to connect with the INS during shore debugging. The GNSS includes two parts: the GNSS water unit and the GNSS underwater unit. The UUV system includes two parts: the main body of the UUV vehicle and the centralized control system. The centralized control system is placed on the mother ship to control the UUV. The main body of the centralized control system includes an industrial computer and a GNSS water unit. The GNSS underwater unit is installed on the UUV. The communication between the above-water unit and the GNSS underwater unit is carried out through satellites (SMS message function of Beidou generation).

S4. Obtain the optimal estimation of the navigation parameters after the navigation mission is completed.

Specifically, in this embodiment, as shown in Figures 8, 9, and 10, the integrated navigation system workflow includes power-on self-inspection, alignment, and integrated navigation stages, wherein, during the power-on self-inspection process, the integrated navigation system The system checks for faults. When a fault is detected, the fault is set to a corresponding state. If there is no fault in the system, it will enter the alignment process. During the alignment process, the integrated navigation system uses the satellite positioning information as a reference to obtain the initial attitude of the current integrated navigation system. , and then transfer to the integrated navigation process; in the integrated navigation process, the integrated navigation system uses GNSS and DVL information to perform integrated navigation calculations to obtain information such as inertial navigation speed, position, and attitude.

This embodiment provides an inertial navigation method for deep-sea underwater unmanned vehicles. The method divides the three situations of only performing tasks, performing tasks after calibration, and only requiring calibration, and configuring navigation computer hardware and navigation software. Aiming at the integrated navigation scheme of large-depth UUV inertial navigation and the technical solution of its integrated navigation algorithm, it solves the problem of the working sequence of INS in the whole process of large-depth UUV from deployment, underwater mission execution to recovery. Compared with the prior art, this method not only considers the navigation of large-depth underwater unmanned vehicles, but also can perform calibration and perform tasks for different situations; the method provided by the invention has the advantages of high hardware integration, low power consumption, and simple calculation , good real-time performance, etc., which improves the accuracy and flexibility of the integrated navigation of the underwater navigation system.

It should be noted that the sequence numbers of the above processes do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

In one embodiment, as shown in FIG. 11 , this embodiment provides a deep-sea underwater unmanned vehicle inertial navigation system, the system comprising:

The system self-inspection module 101 is used for self-inspection of the integrated navigation system, and after the self-inspection is passed, the underwater unmanned vehicle is deployed;

The initial alignment module 102 is used to start the initial alignment using the position information output by the satellite positioning device, and detects whether the fiber optic inertial navigation system has received a calibration instruction, and if the calibration instruction is not received, the initial alignment of the fiber optic inertial navigation system is successful. After that, enter the task-only execution mode and complete the integrated navigation;

The task judging module 103 is used to judge whether the underwater unmanned vehicle needs to perform a task after the initial alignment of the fiber optic inertial navigation system is successful if the calibration instruction is received, and if it needs to perform the task, enter the calibration and task execution mode , to complete the integrated navigation; otherwise, enter the calibration-only working condition;

The data output module 104 is configured to obtain the optimal estimation of navigation parameters after the navigation mission is completed.

For the specific definition of a deep-sea underwater unmanned vehicle inertial navigation system, please refer to the above-mentioned definition of a deep-sea underwater unmanned vehicle inertial navigation method, which will not be repeated here. Those skilled in the art can appreciate that the various modules and steps described in connection with the embodiments disclosed in the present application can be implemented by hardware, software or a combination of both. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

The embodiment of the present invention provides an inertial navigation system for deep sea underwater unmanned vehicles, which performs self-inspection on the integrated navigation system through the system self-inspection module; realizes the initial alignment of the fiber optic inertial navigation system through the initial alignment module and the task judgment module , and according to whether the calibration instruction is received, it is divided into three situations of only performing tasks, performing tasks after calibration, and only requiring calibration to complete integrated navigation; compared with the prior art, this application divides into only performing tasks and performing tasks after DVL calibration And only three situations need to be calibrated, which solves the problem of INS working sequence in the whole process of large-depth UUV from deployment, underwater mission to recovery, and can be applied to large-depth underwater unmanned vehicles, while ensuring the safety of underwater robots. Navigational precision.

Figure 12 is a computer device provided by an embodiment of the present invention, including a memory, a processor and a transceiver, which are connected by a bus; the memory is used to store a set of computer program instructions and data, and can transmit the stored data to A processor, the processor can execute the program instructions stored in the memory to perform the steps of the above method.

Among them, the memory may include volatile memory or non-volatile memory, or may include both volatile and non-volatile memory; the processor may be a central processing unit, a microprocessor, an application-specific integrated circuit, a programmable Logic devices or combinations thereof. By way of illustration but not limitation, the aforementioned programmable logic device may be complex programmable logic device, field programmable logic gate array, general array logic or any combination thereof.

In addition, the memory can be a physically independent unit, or it can be integrated with the processor.

Those of ordinary skill in the art can understand that the structure shown in Figure 12 is only a block diagram of a partial structure related to the solution of this application, and does not constitute a limitation on the computer equipment on which the solution of this application is applied. The specific computer equipment More or fewer components than shown in the figures may be included, or certain components may be combined, or have the same component arrangement.

In one embodiment, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

The embodiment of the present invention provides a deep sea unmanned vehicle inertial navigation method, system, equipment and medium. The deep sea underwater unmanned vehicle inertial navigation method overcomes the inability of traditional underwater unmanned vehicles to be applied The defects of deep underwater operation ensure the reliability of the navigation system, and have the advantages of low computational complexity and high practical value.

In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, all or part of the processes or functions according to the embodiments of the present invention will be generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server, or data center by wired (eg, coaxial cable, optical fiber, DSL) or wireless (eg, infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The available media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media (eg, SSD).

Those skilled in the art can understand that the realization of all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, the computer program During execution, it may include the processes of the embodiments of the above-mentioned methods.

The above-mentioned embodiments only express several preferred implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several improvements and substitutions without departing from the technical principle of the present invention, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the scope of protection of the claims.

Claims (10)

1. A deep sea underwater unmanned vehicle inertial navigation method is characterized in that a combined navigation system installed on an underwater unmanned vehicle is applied, the combined navigation system comprises an optical fiber inertial navigation system, a satellite positioning device, a Doppler velocimeter and a depth meter, the satellite positioning device comprises a satellite positioning receiver and an underwater acoustic positioning system, and the method comprises the following steps:

carrying out self-checking on the combined navigation system, and after the self-checking is passed, laying the underwater unmanned vehicle;

starting initial alignment by using position information output by a satellite positioning device, detecting whether the optical fiber inertial navigation system receives a calibration instruction, if not, entering a task-only execution working condition after the optical fiber inertial navigation system succeeds in initial alignment, and completing combined navigation;

if a calibration instruction is received, judging whether the underwater unmanned vehicle needs to execute a task after the optical fiber inertial navigation system is successfully aligned initially, and if the task needs to be executed, entering a calibration and task execution working condition to complete combined navigation; otherwise, entering a calibration working condition only;

and after the navigation mission task is finished, obtaining the optimal estimation of the navigation parameters.

2. The method of inertial navigation of an unmanned underwater vehicle in deep sea water of claim 1, wherein the task-only behavior comprises:

receiving position information of a satellite positioning receiver, and controlling an underwater unmanned vehicle to reach a preset diving point;

the method comprises the steps that the water surface of a diving point is calibrated by using the position information of a satellite positioning receiver, and an underwater unmanned vehicle is controlled to start diving after the water surface calibration of the diving point is finished;

performing integrated navigation calculation according to the position information of the satellite positioning device to obtain optimal estimation of navigation parameters;

when the navigation mission task is finished, the underwater unmanned vehicle floats to the water surface, and performs position indication and recovery to finish combined navigation.

3. The method of inertial navigation of an unmanned underwater vehicle in deep sea according to claim 1, wherein said calibration-only regime comprises:

calibrating the optical fiber inertial navigation system by using the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter, and performing secondary water surface alignment on the optical fiber inertial navigation system;

and after the calibration is finished, recovering the underwater unmanned vehicle.

4. The method for inertial navigation of an unmanned underwater vehicle at deep sea of claim 1, wherein said calibration and task performance conditions comprise:

calibrating the optical fiber inertial navigation system by using the position information output by the satellite positioning device and the speed information output by the Doppler velocimeter, and performing secondary water surface alignment on the optical fiber inertial navigation system after the calibration is finished;

after the secondary alignment is finished, receiving position information of a satellite positioning receiver, and controlling the underwater unmanned vehicle to reach a preset diving point;

the method comprises the steps that the water surface of a diving point is calibrated by using the position information of a satellite positioning receiver, and an underwater unmanned vehicle is controlled to start diving after the water surface calibration of the diving point is finished;

performing integrated navigation calculation according to the position information of the satellite positioning device to obtain optimal estimation of navigation parameters;

when the navigation mission task is finished, the underwater unmanned vehicle floats to the water surface, and performs position indication and recovery to finish combined navigation.

5. The method for inertial navigation of an unmanned underwater vehicle in deep sea according to claim 2 or 4, wherein the step of performing integrated navigation solution based on the position information of the satellite positioning device to obtain the optimal estimation of the navigation parameters comprises:

collecting integrated navigation information output by an integrated navigation system; the combined navigation information comprises angular velocity information and acceleration information output by an optical fiber inertial navigation system, position information output by an underwater acoustic positioning system, velocity information output by a Doppler velocimeter and depth information output by a depth meter;

based on a linear Kalman model, performing underwater calibration on the optical fiber inertial navigation system by using integrated navigation information;

performing integrated navigation calculation by using the integrated navigation information, and correcting errors of an integrated navigation system to obtain optimal estimation of navigation parameters; and the optimal estimation of the navigation parameters comprises the real-time speed, position and attitude of the optical fiber inertial navigation system.

6. The method of claim 5, wherein when the integrated navigation information is used to perform underwater calibration on the fiber optic inertial navigation system, the state space model of the integrated navigation system is:

wherein,

in the formula, X _k An n-dimensional state vector representing the integrated navigation system at the time k; phi (phi) of _k，k-1 A state transition matrix representing the state from time (k-1) to time k; gamma-shaped _k，k-1 A noise distribution matrix representing the time from (k-1) to k; w _k-1 Representing a systematic noise vector; z _k An observation vector representing time k; h _k An observation matrix representing time k; v _k An observation noise vector representing time k; lambda [ alpha ] _UAPS Represents the longitude of the underwater acoustic positioning system output; l is _UAPS Representing the latitude of the underwater acoustic positioning system output; h is _DG Depth information representing the output of the depth gauge; lambda _INS Representing the longitude of the output of the fiber inertial navigation system; l is a radical of an alcohol _INS Representing the latitude of the output of the optical fiber inertial navigation system; h is _INS Representing depth information output by the fiber optic inertial navigation system.

7. The method of inertial navigation of an unmanned underwater vehicle in deep sea according to claim 1, wherein: the optical fiber inertial navigation system comprises a triaxial optical fiber gyroscope assembly, a quartz flexible accelerometer, I/F conversion current, a direct current power supply, a navigation computer and navigation software;

the navigation computer comprises an FPGA, a DSP, an ARM and a power supply module, and is used for regularly acquiring position information output by the satellite positioning device and speed information output by the Doppler velocimeter through two RS422 interfaces;

the FPGA is used for receiving digital quantity signals output by the optical fiber inertial navigation system and the temperature sensor through two I/O isolation signal lines and one RS422 interface and triggering DSP external interruption;

and the DSP is used for reading and utilizing the digital quantity signals acquired by the FPGA to carry out navigation resolving, and returning the resolved optimal estimation of the navigation parameters to the FPGA in an interruption mode.

8. A deep sea underwater unmanned vehicle inertial navigation system, wherein the deep sea underwater unmanned vehicle inertial navigation method according to any one of claims 1 to 7 is applied, the system comprising:

the system self-checking module is used for self-checking the combined navigation system and laying the underwater unmanned aircraft after the self-checking is passed;

the initial alignment module is used for starting initial alignment by utilizing the position information output by the satellite positioning device and detecting whether the optical fiber inertial navigation system receives a calibration instruction, if the calibration instruction is not received, the optical fiber inertial navigation system enters a task-only execution working condition after the initial alignment of the optical fiber inertial navigation system is successful, and the integrated navigation is completed;

the task judgment module is used for judging whether the underwater unmanned vehicle needs to execute a task or not after the optical fiber inertial navigation system is successfully aligned initially if a calibration instruction is received, and entering a calibration and task execution working condition to finish combined navigation if the task needs to be executed; otherwise, entering a calibration working condition only;

and the data output module is used for acquiring the optimal estimation of the navigation parameters after the navigation mission task is finished.

9. A computer device, characterized by: comprising a processor coupled to a memory for storing a computer program and a memory for executing the computer program stored in the memory to cause the computer device to perform the method of any of claims 1 to 7.

10. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed, implements the method of any of claims 1 to 7.

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