CN114440869A - Double-main AUV switching AUV cluster large-water-depth operation collaborative navigation positioning method - Google Patents
Double-main AUV switching AUV cluster large-water-depth operation collaborative navigation positioning method Download PDFInfo
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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
- 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
- G01C21/1652—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 with ranging devices, e.g. LIDAR or RADAR
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a collaborative navigation positioning method for AUV cluster large-depth operation switched by double main AUVs, which sequentially performs operations of AUV cluster initialization, AUV cluster collaborative submergence, AUV cluster task operation, AUV cluster regular guidance calibration and AUV cluster regular guidance calibration, and can solve the technical problems that in the prior art, the AUV large-depth submergence generates large initial positioning error, and GPS calibration needs to be performed frequently in the underwater long-time operation process.
Description
Technical Field
The invention relates to the technical field of underwater collaborative navigation, in particular to a collaborative navigation positioning method for double-master AUV switching AUV cluster large-water-depth operation.
Background
An Autonomous Underwater Vehicle (AUV) plays an increasingly important role in the fields of ocean development and national defense due to the advantages of small volume, low use cost, intelligent autonomous operation, convenience in guarantee and maintenance, good concealment and the like. In recent years, with the research of multi-robot systems by scholars, the multi-AUV collaborative navigation positioning technology has also gained important attention. The multi-AUV collaborative navigation positioning technology is to improve the positioning accuracy of a low-cost slave AUV only provided with low-accuracy navigation equipment by using a few master AUVs provided with high-accuracy navigation equipment.
The AUV integrated navigation system is generally composed of a GPS (global positioning system), a DVL (doppler log) and a SINS (strapdown inertial navigation system). However, when the AUV is in SINS/DVL combined navigation during underwater operation, the positioning error is accumulated with the increase of the navigation distance, and when the error is accumulated to a certain degree, the AUV must float to the water surface to perform position correction by using the GPS, so as to eliminate the accumulated position error. However, the constant floating will cause the task-executing efficiency of the AUV to be reduced, and especially when the AUV is under ice or under deep sea or other large water depth underwater operation for a long time, the problem is more prominent. In addition, when the AUV is submerged in a large depth (more than 1000 meters), the DVL is ineffective to the bottom and has no GPS signal in the process of submerging from the water surface to the operating depth, so that the AUV is in pure inertial navigation for a long time. When the AUV reaches the operating water depth, a large initial positioning error has occurred.
Disclosure of Invention
In view of the above, the invention provides a collaborative navigation positioning method for double-master AUV switching AUV cluster large-water-depth operation, which can solve the technical problems that in the prior art, a large initial positioning error is generated when an AUV is submerged in a large water depth, and GPS calibration needs to be performed by frequent water discharge in a long-time underwater operation process.
The technical scheme adopted by the invention is as follows:
a collaborative navigation positioning method for AUV cluster large-water-depth operation switched by double main AUVs comprises the following steps:
firstly, performing shore-based or water surface floating initial alignment on an AUV cluster, and simultaneously completing clock synchronization of a network acoustic transceiver, a DVL (dynamic video recorder), a central controller, inertial navigation and a GPS (global positioning system), underwater operation task planning and AUV task binding of the AUV cluster;
step two, the main AUV I is kept on the water surface for navigation, the flight path is inconsistent with other AUV flight paths, and the ID number, the position, the speed, the course, the depth and the time of the main AUV I are periodically broadcasted outwards through the network sonotrode under the control of a synchronous clock; other AUVs submerge and receive the broadcast information of the main AUV I in real time, and estimate and calibrate the positions of the other AUVs;
step three, when other AUVs submerge to the operation depth and the Doppler log is in a bottom effective working mode for a certain time, all underwater operation tasks are started from the AUVs; at the moment, a master AUV II in underwater operation is switched from a follower mode to a navigator mode, and the ID number, the position, the speed, the course, the depth and the time of the master AUV II are periodically broadcasted by the internet protocol security machine under the control of a synchronous clock; meanwhile, a main AUV I sailing on the water surface is switched to a follower mode, the self information is not broadcasted any more, the broadcast information of a main AUV II is received, the self position is calculated in real time, and the underwater vehicle starts to dive to the operating water depth; when the main AUV I submerges to the operating water depth, the underwater operation task is started;
after certain time of underwater operation, the main AUV I floats upwards regularly in a follower mode, the mode is switched to a pilot mode after water is discharged, meanwhile, the main AUV II is switched to the follower mode, and the operation in the second step is repeated; after the water surface GPS calibration is finished, the main AUV I and the main AUV II are switched into a mode again, and the operation of the step three is repeated, so that the regular error calibration of the AUV cluster is realized;
step five, after the AUV cluster underwater operation is completed, the main AUV I floats upwards in a follower mode, is switched into a navigator mode after water is discharged, sails in a certain water surface area and broadcasts self information; meanwhile, the main AUV II is switched into a follower mode; thereafter, the main AUV II and other water from the AUV are floated and recovered.
Further, in the second step, the track of the main AUV I is Z-shaped.
Further, the method for estimating and calibrating the position of the other AUVs in the second step includes:
the relative distance between other AUVs and a main AUV I is calculated by measuring the transmission time of the sound wave signals from transmitting to receiving and combining the sound velocity in water to realize the relative distance measurement, and the position and the depth of the main AUV I are analyzed from the received broadcast information; and other slave AUVs estimate the self-position in real time by utilizing the obtained position and depth of the master AUV and the self-depth and course based on the mobile radial co-location principle and carry out position correction on the self-equipped inertial navigation.
Further, the periodicity in the second step and the third step is a fixed time interval.
Further, in the fifth step, the main AUV i is switched to the navigator mode and navigates on the water surface in a square shape.
Are omitted here
Has the beneficial effects that:
by using the cooperative navigation and positioning method for the AUV cluster large-water-depth operation switched by the double main AUVs, the navigation and positioning problems of the AUV cluster large-water-depth operation can be effectively solved, the high-precision underwater navigation and positioning of the whole AUV cluster are realized at relatively low cost, and the accuracy of the AUV underwater operation results such as submarine topography mapping, hydrological environment investigation, underwater region reconnaissance and the like is greatly improved.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a collaborative navigation positioning method for double-master AUV switching AUV cluster large-water-depth operation, which comprises the following steps as shown in figure 1:
step one, initializing an AUV cluster. And (3) the AUV cluster performs shore-based (or water surface floating) initial alignment, and simultaneously completes clock synchronization of respective equipment (a network acoustic communication machine, a DVL (digital video recorder), a central controller and inertial navigation) and a GPS (global positioning system), underwater operation task planning and AUV task binding.
And step two, the AUV cluster is in collaborative submergence. After the AUV cluster is initially aligned, the water surface is navigated to a water entry point, and then the cooperative submergence is carried out. A main AUV I equipped with a GPS and a network voice communicator stays on the water surface to navigate along a Z shape, and periodically broadcasts an ID number, a position, a speed, a course, a depth and time of the main AUV I by the network voice communicator at fixed time intervals under the control of a synchronous clock; other AUVs begin to submerge and receive the broadcast information of the main AUV I in real Time, the relative distance between the AUV I and the other AUVs and the main AUV I is calculated by using the method of measuring the Transmission Time of sound wave signals from transmitting to receiving and combining the underwater sound velocity to realize the measurement of the relative distance OWTT (One-way Transmission Time), and the information of the position, the depth and the like of the main AUV I is analyzed from the broadcast communication protocol, namely the received broadcast information; and other slave AUVs estimate the self-position in real time by utilizing the acquired information such as the position and the depth of the master AUV I and the information such as the self depth and the self course and the like based on the mobile radial co-location principle, and carry out position correction on the inertial navigation equipped by the slave AUV.
And step three, AUV cluster task operation. When other slave AUVs dive to the operation depth, the DVL is in a bottom effective working mode for a certain time, and all slave AUVs start underwater operation tasks. At this time, the master AUV II in underwater operation is switched from follower mode to navigator mode, and periodically broadcasts its ID number, position, speed, course, depth and time outward through the network vocoder at regular time intervals under the control of the synchronous clock. Meanwhile, a main AUV I sailing on the water surface is switched to a follower mode, the self information is not broadcasted any more, the broadcast information of a main AUV II is received, the self position is calculated in real time, and the underwater vehicle starts to dive to the operating water depth; and when the main AUV I submerges to the operating water depth, the underwater operation task is started.
And step four, performing periodical guard and guide calibration on the AUV cluster. After a certain period of underwater operation, the main AUV I floats up periodically in a follower mode. And after the main AUV I goes out of water, switching to a navigator mode, navigating on the water surface in a Z shape, and broadcasting self information. Meanwhile, the main AUV II is switched into a follower mode, and only the broadcast information of the main AUV I is received in real time together with other slave AUVs, and self-position estimation and calibration are carried out. After the water surface GPS calibration is finished, the main AUV I and the main AUV II are switched into the mode again, and the main AUV I submerges to the operation water depth and continues the operation task …, so that the regular error calibration of the AUV cluster is realized.
And fifthly, floating and recovering after the AUV cluster operation is finished. And after the AUV cluster underwater operation is finished, the main AUV I floats upwards in a follower mode. After the main AUV I goes out of water, the mode is switched to a navigator mode, the navigation is carried out on the water surface in a shape of a Chinese character 'kou', and self information is broadcasted. At the same time, the master AUV ii switches to the follower mode. Thereafter, the main AUV II and other water from the AUV are floated and recovered.
Simulation results based on the simulated AUV cluster large-water-depth operation process show that the AUV cluster carries out large-water-depth operation, and the cooperative navigation positioning method of the AUV cluster large-water-depth operation switched by double main AUVs can realize the following steps: 1, during the submergence process of the AUV cluster from the water surface to the operating water depth, the AUV has higher navigation positioning precision all the time, and the formation of the whole AUV formation is kept ideal during the submergence process; when the AUV cluster reaches the operating water depth and starts to execute the task, the initial positioning error is several meters; 3. because the AUV cluster adopts a periodic position calibration mechanism, the INS/DVL combined navigation error is calibrated when the whole AUV cluster accumulates to a certain degree in the underwater long-time operation process, and the whole positioning error is always restrained on small unevenness.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1.A collaborative navigation positioning method for AUV cluster large-water-depth operation switched by double main AUVs is characterized by comprising the following steps:
firstly, performing shore-based or water surface floating initial alignment on an AUV cluster, and simultaneously completing clock synchronization of a network acoustic transceiver, a DVL (dynamic video recorder), a central controller, inertial navigation and a GPS (global positioning system), underwater operation task planning and AUV task binding of the AUV cluster;
step two, the main AUV I is kept on the water surface for navigation, the flight path is inconsistent with other AUV flight paths, and the ID number, the position, the speed, the course, the depth and the time of the main AUV I are periodically broadcasted outwards through the network sonotrode under the control of a synchronous clock; other AUVs submerge and receive the broadcast information of the main AUV I in real time, and estimate and calibrate the positions of the other AUVs;
step three, when other AUVs submerge to the operation depth and the Doppler log is in a bottom effective working mode for a certain time, all underwater operation tasks are started from the AUVs; at the moment, a master AUV II in underwater operation is switched from a follower mode to a navigator mode, and the ID number, the position, the speed, the course, the depth and the time of the master AUV II are periodically broadcasted by the internet protocol security machine under the control of a synchronous clock; meanwhile, a main AUV I sailing on the water surface is switched to a follower mode, the information of the main AUV I is not broadcasted any more, the broadcast information of a main AUV II is received, the position of the main AUV I is calculated in real time, and the main AUV I begins to dive to the operating water depth; when the main AUV I submerges to the operating water depth, the underwater operation task is started;
after certain time of underwater operation, the main AUV I floats upwards regularly in a follower mode, the mode is switched to a pilot mode after water is discharged, meanwhile, the main AUV II is switched to the follower mode, and the operation in the second step is repeated; after the water surface GPS calibration is finished, the main AUV I and the main AUV II are switched into a mode again, and the operation of the step three is repeated, so that the regular error calibration of the AUV cluster is realized;
step five, after the AUV cluster underwater operation is completed, the main AUV I floats upwards in a follower mode, is switched into a navigator mode after water is discharged, sails in a certain water surface area and broadcasts self information; meanwhile, the main AUV II is switched into a follower mode; thereafter, the main AUV II and other water from the AUV are floated and recovered.
2. The method for collaborative navigation positioning of AUV cluster high-water-depth operations with dual-master AUV switching according to claim 1, wherein in the second step, the track of the master AUV I is Z-shaped.
3. The method for collaborative navigation positioning of AUV cluster large-water-depth operation with dual-master AUV switching according to claim 1, wherein the method for estimating and calibrating the position of other AUVs in the second step is as follows:
the relative distance between other AUVs and a main AUV I is calculated by measuring the transmission time of the sound wave signals from transmitting to receiving and combining the sound velocity in water to realize the relative distance measurement, and the position and the depth of the main AUV I are analyzed from the received broadcast information; and other slave AUVs estimate the self position in real time by using the obtained position and depth of the master AUV and the self depth and course based on the mobile vector co-location principle and carry out position correction on the inertial navigation equipped by the slave AUV.
4. The method for collaborative navigation positioning of AUV cluster large water depth operations with dual-master AUV switching according to claim 1, wherein the periodicity in the second step and the third step is a fixed time interval.
5. The cooperative navigation and positioning method for the AUV cluster large-water-depth operation with the dual-master AUV switch as claimed in claim 1, wherein in the fifth step, the master AUV i is switched to the navigator mode and then navigates on the water surface in a square font.
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