Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time ...Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge comer pixels are then defined and used to construct an edge comer histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.展开更多
This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapi...This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.展开更多
Aiming at the requirement of autonomous navigation capability of the underwater unmanned vehicle(UUV),a novel bionic method for underwater navigation based on polarization pattern within Snell’s window is proposed.In...Aiming at the requirement of autonomous navigation capability of the underwater unmanned vehicle(UUV),a novel bionic method for underwater navigation based on polarization pattern within Snell’s window is proposed.Inspired by creatures,polarization navigation is a satellite-free navigation scheme and has great potential to be used in the water.However,because of the complex underwater environment,whether UUV polarization navigation can be realized is doubtful.To illustrate the feasibility of underwater polarization navigation,we firstly establish the model of under-water polarization patterns to prove the stability and predictability of the underwater polarization pattern within Snell’s window.Then,we carry out static and dynamic experiments of underwater heading determination based on developed polarization information detection equipment.Finally,we obtain underwater polarization patterns and conduct the tracking experiment at different water depths.The experimental results of the underwater polarization patterns are consistent with the simulation,which proves the correctness of the proposed model.At the water depth of 5 m,the average angle and position error of the tracking experiment are 14.3508°and 4.0812 m,respectively.It is illustrated that underwater polarization navigation is realizable and the precision can meet the real-time navigation requirements of UUV.This study promotes the improvement of underwater navigation ability and the development of marine equipment.展开更多
This paper presents a bio-inspired geomagnetic navigation method for autonomous underwater vehicle(AUV) without using any a priori geomagnetic information. Firstly, the multi-objective search problem is raised. Second...This paper presents a bio-inspired geomagnetic navigation method for autonomous underwater vehicle(AUV) without using any a priori geomagnetic information. Firstly, the multi-objective search problem is raised. Secondly, the geomagnetic navigation model is established by constructing a cost function. Then, by taking into consideration the biological magneto-taxis movement behavior for the geomagnetic environment stimulus, the multiobjective evolutionary search algorithm is derived to describe the search process. Finally, compared to the state-of-the-art, the proposed method presents better robustness. The simulation results demonstrate the reliability and feasibility of the proposed method.展开更多
A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acous...A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acoustic communication network among the group members, the relative positioning problem can be solved. A novel approach for solving the relative positioning is presented by using a recursive trigonometry technique and extended Kalman filter(EKF). Simulation results verify the correctness and effectiveness of this navigation method.展开更多
For the underwater integrated navigation system, information fusion is an important technology. This paper introduces the Kalman filter as the most useful information fusion technology, and then gives a summary of the...For the underwater integrated navigation system, information fusion is an important technology. This paper introduces the Kalman filter as the most useful information fusion technology, and then gives a summary of the Kalman filter applied in underwater integrated navigation system at present, and points out the further research directions in this field.展开更多
In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The system architecture, net commun...In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The system architecture, net communication and the information flow are discussed. The methods of software realization and some key techniques of the Vehicle Computer and the Navigation Equipment Computer are introduced in particular. The software design of Terrain Matching Computer is introduced also. The simulation platform is verified and analyzed through simulation. The results show that the architecture of the platform is reasonable and reliable, and the mathematic models and simulation algorithms of sub-systems are also valid and practicable.展开更多
To improve the navigation accuracy of an autonomous underwater vehicle (AUV), a novel terrain passive integrated navigation system (TPINS) is presented. According to the characteristics of the underwater environme...To improve the navigation accuracy of an autonomous underwater vehicle (AUV), a novel terrain passive integrated navigation system (TPINS) is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system (SINS), the terrain reference navigation system (TRNS), the Doppler velocity sonar (DVS), the magnetic compass and the navigation computer utilizing the unscented Kalman filter (UKF) to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter (EKF), nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.展开更多
Territorial water is a significant part of national sovereignty of China,thus the infrastructures of national space datum and location services should cover the sea areas except for the land areas.China has establishe...Territorial water is a significant part of national sovereignty of China,thus the infrastructures of national space datum and location services should cover the sea areas except for the land areas.China has established relatively complete geodetic coordinate frame in land areas over the past decades,including the lastest developed China Geodetic Coordinate System 2000(CGCS 2000)with its reference frame and the national gravity datum 2000.However,the currently used geodetic infrastructures have not well covered the sea areas of China.The marine geodetic datum and marine navigation technologies need to be further developed and extended to satisfy the national demands of marine environment and resources detection,scientific investigation as well as marine economy development in new era of China.This paper mainly reviews the development and the progress of Chinese marine geodetic datum and marine navigation,analyses related key technologies in establishing our national marine geodetic datum.Some current trends and future directions for independently developing our national marine geodetic datum and marine navigation technologies are discussed.展开更多
To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a ...To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a multi-scale transformation method is proposed for integrated navigation system based on AUV.First,integrated navigation system theory and system error sources are introduced in details.Secondly,a navigation system's observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method,and noise reduction is performed by setting the wavelet de-noising threshold.At last,the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman filter.The results show that the proposed algorithm has smaller navigation error and higher navigation accuracy.展开更多
基金Supported by the National Natural Nature Science Foundation of China (Grant No. 41376102), Fundamental Research Funds for the Central Universities (Gant No. HEUCF150514) and Chinese Scholarship Council (Grant No. 201406680029).
文摘Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge comer pixels are then defined and used to construct an edge comer histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.
基金the National Natural Science Foundation of China(Grant No.42274119)the Liaoning Revitalization Talents Program(Grant No.XLYC2002082)+1 种基金National Key Research and Development Plan Key Special Projects of Science and Technology Military Civil Integration(Grant No.2022YFF1400500)the Key Project of Science and Technology Commission of the Central Military Commission.
文摘This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.
基金supported by the National Natural Science Foundation of China(Grant No.52175265).
文摘Aiming at the requirement of autonomous navigation capability of the underwater unmanned vehicle(UUV),a novel bionic method for underwater navigation based on polarization pattern within Snell’s window is proposed.Inspired by creatures,polarization navigation is a satellite-free navigation scheme and has great potential to be used in the water.However,because of the complex underwater environment,whether UUV polarization navigation can be realized is doubtful.To illustrate the feasibility of underwater polarization navigation,we firstly establish the model of under-water polarization patterns to prove the stability and predictability of the underwater polarization pattern within Snell’s window.Then,we carry out static and dynamic experiments of underwater heading determination based on developed polarization information detection equipment.Finally,we obtain underwater polarization patterns and conduct the tracking experiment at different water depths.The experimental results of the underwater polarization patterns are consistent with the simulation,which proves the correctness of the proposed model.At the water depth of 5 m,the average angle and position error of the tracking experiment are 14.3508°and 4.0812 m,respectively.It is illustrated that underwater polarization navigation is realizable and the precision can meet the real-time navigation requirements of UUV.This study promotes the improvement of underwater navigation ability and the development of marine equipment.
基金supported by the National Natural Science Foundation of China(5137917651179156)
文摘This paper presents a bio-inspired geomagnetic navigation method for autonomous underwater vehicle(AUV) without using any a priori geomagnetic information. Firstly, the multi-objective search problem is raised. Secondly, the geomagnetic navigation model is established by constructing a cost function. Then, by taking into consideration the biological magneto-taxis movement behavior for the geomagnetic environment stimulus, the multiobjective evolutionary search algorithm is derived to describe the search process. Finally, compared to the state-of-the-art, the proposed method presents better robustness. The simulation results demonstrate the reliability and feasibility of the proposed method.
基金Sponsored by National Natural Foundation (50979093)the High Technology Research and Development Program of China (863 Program)( 2007AA809502C)Program for New Century Excellent Talents in University (NCET-06-0877)
文摘A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acoustic communication network among the group members, the relative positioning problem can be solved. A novel approach for solving the relative positioning is presented by using a recursive trigonometry technique and extended Kalman filter(EKF). Simulation results verify the correctness and effectiveness of this navigation method.
文摘For the underwater integrated navigation system, information fusion is an important technology. This paper introduces the Kalman filter as the most useful information fusion technology, and then gives a summary of the Kalman filter applied in underwater integrated navigation system at present, and points out the further research directions in this field.
文摘In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The system architecture, net communication and the information flow are discussed. The methods of software realization and some key techniques of the Vehicle Computer and the Navigation Equipment Computer are introduced in particular. The software design of Terrain Matching Computer is introduced also. The simulation platform is verified and analyzed through simulation. The results show that the architecture of the platform is reasonable and reliable, and the mathematic models and simulation algorithms of sub-systems are also valid and practicable.
基金Pre-Research Program of General Armament Department during the11th Five-Year Plan Period (No51309020503)the National Defense Basic Research Program of China (973Program)(No973-61334)+1 种基金the National Natural Science Foundation of China(No50575042)Specialized Research Fund for the Doctoral Program of Higher Education (No20050286026)
文摘To improve the navigation accuracy of an autonomous underwater vehicle (AUV), a novel terrain passive integrated navigation system (TPINS) is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system (SINS), the terrain reference navigation system (TRNS), the Doppler velocity sonar (DVS), the magnetic compass and the navigation computer utilizing the unscented Kalman filter (UKF) to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter (EKF), nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.
文摘Territorial water is a significant part of national sovereignty of China,thus the infrastructures of national space datum and location services should cover the sea areas except for the land areas.China has established relatively complete geodetic coordinate frame in land areas over the past decades,including the lastest developed China Geodetic Coordinate System 2000(CGCS 2000)with its reference frame and the national gravity datum 2000.However,the currently used geodetic infrastructures have not well covered the sea areas of China.The marine geodetic datum and marine navigation technologies need to be further developed and extended to satisfy the national demands of marine environment and resources detection,scientific investigation as well as marine economy development in new era of China.This paper mainly reviews the development and the progress of Chinese marine geodetic datum and marine navigation,analyses related key technologies in establishing our national marine geodetic datum.Some current trends and future directions for independently developing our national marine geodetic datum and marine navigation technologies are discussed.
基金National Natural Science Foundation of China(51779057,51709061,51509057)the Equipment Pre-Research Project(41412030201)the National 863 High Technology Development Plan Project(2011AA09A106)。
文摘To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a multi-scale transformation method is proposed for integrated navigation system based on AUV.First,integrated navigation system theory and system error sources are introduced in details.Secondly,a navigation system's observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method,and noise reduction is performed by setting the wavelet de-noising threshold.At last,the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman filter.The results show that the proposed algorithm has smaller navigation error and higher navigation accuracy.