CN103968830B - Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method - Google Patents

Abstract

The invention relates to a multi-channel guiding device and method for UUV tracking a mother ship near the water surface, which are suitable for solving the problem of UUV sensing the position of a mother ship in harsh environments. The present invention includes a GPS positioning device, a marine laser range finder, a multi-beam forward-looking sonar and a synchronous positioning sonar. The GPS positioning device includes GPS antennas respectively installed on the UUV and the mother ship for receiving positioning information from GPS satellites; the marine laser The range finder is installed on the mother ship, and measures the relative distance and direction between the UUV and the mother ship through laser beams; the multi-beam forward-looking sonar is installed on the UUV, and measures the relative distance and direction between the mother ship and the UUV through sound waves; the synchronous positioning sonar includes the transmitter installed on the mother ship Base array, receiving base array and transponder installed on UUV. The invention enhances the redundancy capability and positioning accuracy of the system, and improves the reliability of system data transmission.

Description

A multi-channel guidance device and method for UUV near the water surface to track a mother ship when navigating

technical field

The invention relates to a multi-channel guiding device and method for UUV tracking a mother ship near the water surface, which are suitable for solving the problem of UUV sensing the position of a mother ship in harsh environments.

Background technique

The near-water movement of UUV is a very important navigation state. Using the method of target guidance to make it track the mother ship of the test can greatly improve the autonomy of the vehicle in the process of deployment and recovery. With the mother ship as the guidance target, on the basis of real-time position acquisition, the corresponding route can be planned and sent to the UUV, and then the autonomous tracking navigation can be completed. The traditional method is to equip the mother ship and the UUV carrier with a global positioning system, that is, a GPS device, to obtain the absolute position of the two expressed in latitude and longitude, and to complete the conversion of the relative position by calculating the distance from two known coordinates. Due to the characteristics of poor environment, high risk and strong uncertainty in UUV offshore operations, the GPS positioning device is easily affected by the shaking of the hull and interferes with the measurement data. In harsh environments, it may even be unable to receive satellite signals, resulting in failure of positioning. It can be seen that a single GPS positioning method cannot meet the actual needs. It is necessary to use various guidance devices such as marine laser rangefinders, multi-beam forward-looking sonars, and synchronous positioning sonars to obtain the position of the mother ship to improve the redundancy of the system.

After obtaining the relative position data of the UUV and the mother ship, another important issue is to complete the data transmission between the two. When the UUV is navigating near the water surface, it uses a combination of radio and underwater acoustic communication to complete the data transmission with the test mother ship. The radio communication method basically realizes real-time transmission, and the data delay can be ignored, but the receiving antenna must be exposed to the water surface when the UUV is sailing near the water surface. Once the sea level is high, the waves with large amplitude will submerge the communication antenna of the UUV and cause communication Intermittent problem; the underwater acoustic communication method solves the problem that the underwater data transmission can still be completed even if the UUV navigates underwater, but the disadvantage is that the communication delay is long. The invention designs a communication data synchronization method to solve the problem of time inconsistency between the two communication modes and improve the positioning accuracy of the UUV to the mother ship.

By searching the Chinese patent database, no patent related to the present invention was found. By searching the U.S. patent database and the European patent database, no patent similar to the present invention was found.

After searching the literature and patents of the prior art at home and abroad, no similar multi-way guidance device and method for underwater unmanned vehicles have been found.

Contents of the invention

The purpose of the present invention is to provide a multi-way guidance device for UUV near-water tracking mother ship sailing which improves the reliability of system data transmission. The purpose of the present invention is also to provide a multi-way guidance device for UUV near-water tracking mother ship navigation boot method.

The purpose of the present invention is achieved like this:

A multi-channel guidance device for UUV near the water surface to track a mother ship when sailing, including a GPS positioning device, a marine laser range finder, a multi-beam forward-looking sonar and a synchronous positioning sonar, and the GPS positioning device includes GPS installed on the UUV and the mother ship respectively The antenna is used to receive positioning information from GPS satellites; the marine laser rangefinder is installed on the mother ship to measure the relative distance and direction between the UUV and the mother ship through laser beams; the multi-beam forward-looking sonar is installed on the UUV to measure the distance between the mother ship and the UUV through sound waves Relative distance and direction; the synchronous positioning sonar includes the transmitting array installed on the mother ship, the receiving array and the transponder installed on the UUV. On the one hand, the synchronous positioning sonar completes the relative distance and relative orientation between the UUV and the mother ship; Hydroacoustic communication with the mother ship.

In addition to the synchronous positioning sonar, it also includes radio antennas installed on the UUV and the mother ship respectively.

A multi-way guidance method for UUV tracking the mother ship when sailing near the water surface:

(1) The GPS configured by the UUV carrier and the GPS of the mother ship obtain their respective absolute positions at the same time, and the relative orientation can be obtained by converting the latitude and longitude by the method of calculating the distance between two points;

(2) Measure the relative distance and direction between the UUV and the mother ship by using the propagation time and speed of the laser beam;

(3) Taking the mother ship as the measurement target, using the sound wave return time and speed of the ranging sonar to measure the relative distance and direction between the UUV and the mother ship;

(4) Using the ultra-short baseline working principle, the relative azimuth angle between the array and the transponder is determined by measuring the phase difference of the acoustic unit, and the relative distance between the mother ship and the UUV is finally determined by measuring the propagation time of the sound wave and correcting the sound velocity profile.

The beneficial effects of the present invention are: when the UUV is tracking the mother ship near the water surface, various methods such as GPS and marine laser range finder are used to measure the relative distance and direction between the UUV and the mother ship, which enhances the redundancy capability and positioning accuracy of the system. In addition, the communication method combining radio and underwater acoustic communication is used to complete the data transmission between the UUV and the mother ship during the positioning process, and the time registration of the two communication methods improves the reliability of the system data transmission, thereby realizing UUV near-water navigation It can autonomously perceive the position of the mother ship under high sea conditions and harsh environmental conditions.

Description of drawings

Figure 1 is a schematic diagram of the multi-way guidance device when the UUV tracks the mother ship near the water surface;

Figure 2 is a flow chart of data synchronization between underwater acoustic communication and radio communication.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The near-water movement of UUV is a very important navigation state. Using the method of target guidance to make it track the mother ship of the test can greatly improve the autonomy of the vehicle in the process of deployment and recovery. Due to the characteristics of poor environment, high risk and strong uncertainty in offshore operations, it is necessary to use a variety of guidance devices and communication methods to obtain the position of the mother ship to improve the redundancy of the system. The present invention discloses a multi-channel guiding device and method for UUV to track a mother ship near the water surface, which is used to solve the problem that the UUV autonomously perceives the position of the mother ship and then realizes path tracking, wherein the multi-channel guiding device includes: 1) a traditional GPS positioning device , the working principle is that the GPS configured by the UUV carrier and the GPS of the mother ship obtain their respective absolute positions at the same time, and the relative orientation of the two can be obtained by converting the latitude and longitude by the method of calculating the distance between two points; 2) The marine laser rangefinder, working The principle is to use the propagation time and speed of the laser beam to measure the relative distance and direction between the UUV and the mother ship; 3) the multi-beam forward-looking sonar, the working principle is to use the sound wave return time and speed of the ranging sonar to measure the UUV with the mother ship as the measurement target. The relative distance and direction from the mother ship; 4) synchronous positioning sonar, the working principle is to use the ultra-short baseline working principle, which is composed of the transmitting array installed on the test mother ship, the receiving array and the transponder fixed on the UUV carrier, Combined with GPS and mother ship attitude sensor (compass), the relative position between UUV and mother ship can be measured. When the UUV is navigating near the water surface, the data transmission with the test mother ship is completed by combining radio and underwater acoustic communication. The present invention proposes a delay time correction for underwater acoustic communication based on Radial Basis Function (RBF) nerve The method of underwater acoustic communication positioning data obtained by network fitting performs data synchronization processing on the positioning data under the two communication modes to maintain the consistency of the positioning data.

The multi-channel guidance device and method for the UUV to track the mother ship near the water surface, including: (1) UUV near the water surface navigation; (2) multiple guidance devices to sense the position of the mother ship; (3) multiple communication methods to complete the UUV and the mother ship. Data transmission; (4) Use data synchronization processing to maintain the time consistency of positioning data under the two communication methods; (5) Use redundancy technology to enhance the reliability of the system in harsh environments.

When UUV sails near the water surface, it has the characteristics of poor environment, high risk and strong uncertainty, and the near water surface navigation creates good conditions for improving the smooth communication, so it is an indispensable motion state for UUV in the process of deployment and recovery.

A variety of guidance devices obtain the position of the mother ship, specifically referring to GPS positioning devices, marine laser rangefinders, UUV equipped with multi-beam forward-looking sonar and synchronous positioning sonar. Among them, GPS positioning obtains the absolute positions of UUV and mother ship respectively. The relative azimuth can be obtained through calculation and conversion, while the marine laser rangefinder, multi-beam forward-looking sonar and synchronous positioning sonar can directly obtain the relative distance and direction of the two in real time.

A variety of communication methods complete the data transmission between the UUV and the mother ship, specifically referring to the combination of radio and underwater acoustic communication. The radio communication requires the UUV communication antenna to be kept above the water surface, while the underwater acoustic communication is based on the transponder and the mother ship. The communication of the array completes the underwater transmission of data.

Synchronize the positioning data under the two communication methods, use the time registration method to process the communication data to maintain data consistency, and use the Radial Basis Function (RBF) neural network fitting method to integrate the underwater acoustic communication data Match to the data points acquired by the radio, and correct for the delay time of the hydroacoustic communication.

Redundant technologies using multiple mother ship positioning methods and communication methods can enhance the reliability of the UUV sensing mother ship position system in harsh environments.

In the present invention, the UUV's tracking and navigation of the mother ship is realized through the following perception and positioning schemes:

a) A variety of guidance methods provide the relative position of UUV and mother ship, including GPS positioning device, marine laser range finder, UUV equipped with multi-beam forward-looking sonar and synchronous positioning sonar system;

b) The communication method combining radio and underwater acoustic communication completes the transmission of positioning data;

c) The data synchronization method is used to solve the delay problem of underwater acoustic communication, and to maintain the time consistency of the two communication methods;

d) Improve the reliability of the UUV sensing mother ship position system through redundancy technology.

The GPS positioning device in the described multiple guidance approach scheme a) refers to that the UUV carrier and the mother ship are equipped with existing GPS positioning equipment respectively, and the absolute position represented by the latitude and longitude of the two can be obtained under the condition of unimpeded communication;

The marine laser range finder in the multiple guidance approach scheme a) refers to that the marine laser range finder is installed at the stern of the mother ship to detect the UUV in real time, and the relative distance between the UUV and the mother ship is measured by the propagation time and speed of the laser beam. and direction;

The multi-beam forward-looking sonar on the UUV in the above-mentioned multiple guidance approach scheme a) refers to installing a multi-beam forward-looking sonar on the bow of the UUV, using the principle of sound wave return, using the mother ship as the detection target, and according to the sound wave transmission speed and time. Calculate the relative distance and direction of the two;

The synchronous positioning sonar system in the multiple guidance approach scheme a) refers to the ultra-short baseline working principle, which is composed of a transmitting array installed on the test mother ship, a receiving array and a transponder fixed on the UUV carrier , the system determines the relative azimuth from the base array to the transponder by measuring the phase difference of the acoustic unit, and finally determines the relative distance between the mother ship and the UUV by measuring the propagation time of the sound wave and correcting the sound velocity profile.

The communication method combining radio and underwater acoustic communication in the implementation plan b) of the multi-channel guidance device and method refers to that when the UUV is navigating near the water surface and the receiving antenna is exposed to the water surface, the radio communication method can be used to realize real-time data transmission. At the same time, the underwater acoustic communication method solves the problem of data transmission when UUV sails underwater.

The multi-channel guidance device and method implementation scheme c) adopts the data synchronization method to solve the delay problem of underwater acoustic communication, which means that because the data transmission frequency of radio communication and underwater acoustic communication is different, this patent adopts data synchronization means Data and underwater acoustic communication data are time registered to maintain the time consistency of the two communication methods. This process specifically includes the following steps:

Step 1: Use the RBF neural network to fit the underwater acoustic communication data. In order to complete the registration with the radio communication data, set the training step length as 0.5s, then the underwater acoustic communication data at any time 0.5t can be obtained, t=1s ,2s,v,ns;

Step 2: According to the relative position Δd of the UUV and the mother ship obtained by underwater acoustic communication, the acoustic wave transmission velocity v and the data calculation time ω _t (where ω _t is generally at the millisecond level and can be ignored), the following formula can be used to solve the delay time, From this, the delay time of each transmission relative distance point is obtained:

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; v</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; \&ap;</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; v</span>}}$

It means that when the positioning distance is Δd _i , the delay time of the i-th data is Δt _i .

Step 3: Advance the underwater acoustic communication data obtained by fitting the RBF network by Δt _i s respectively, that is, the corresponding time obtained by underwater acoustic communication at the final matching time is (0.5t-Δt _i ) s.

Step 4: The time corresponding to the distance Δd between the UUV and the mother ship obtained from step 3 is (0.5t-Δt _i )s, which is not necessarily guaranteed to be an integer multiple of 0.5s. In order to complete synchronization with the radio data, the RBF neural network is used again Just fit.

In the implementation plan d) of the multi-way guidance device and method, improving the reliability of the UUV sensing mothership position system through redundant technology means that the application of multiple-way guidance devices enhances the mutual positioning accuracy between the UUV and the mothership. The combined application of various communication data improves the fault tolerance of the system.

The invention relates to a device and method for UUV to guide the navigation of a mother ship in multiple ways when tracking the mother ship near the water surface, and is especially suitable for solving the problem of the UUV sensing the position of the mother ship in harsh environments. This method combines a variety of ranging devices, and registers the time of the two communication methods, so as to accurately measure the relative position of the UUV and the mother ship in high sea conditions and complex environments when sailing near the water surface. The following will further illustrate the present invention in conjunction with the accompanying drawings. features and functions.

Figure 1 is a schematic diagram of the multi-channel guidance device and communication device when the UUV tracks the mother ship near the water surface.

Multi-channel guidance devices include traditional GPS positioning devices, marine laser range finders, multi-beam forward-looking sonars and synchronous positioning sonars. Among them, the GPS positioning device includes GPS antennas installed on the UUV and the mother ship respectively to receive positioning information from GPS satellites; the marine laser rangefinder is installed on the mother ship, and measures the relative distance and direction between the UUV and the mother ship through laser beams; The beam forward-looking sonar is installed on the UUV, and the relative distance and direction between the mother ship and the UUV are measured by sound waves; the synchronous positioning sonar includes the transmitting array installed on the mother ship, the receiving array and the transponder installed on the UUV. The relative distance and relative orientation from the mother ship, on the other hand, completes the underwater acoustic communication between the UUV and the mother ship.

In addition to the synchronous positioning sonar, the communication device also includes radio antennas installed on the UUV and the mother ship respectively.

The working principle of the traditional GPS is that the GPS configured by the UUV carrier and the GPS of the mother ship obtain their respective absolute positions at the same time, and the relative orientation of the two can be obtained by converting the latitude and longitude through the method of calculating the distance between two points; the working principle of the marine laser rangefinder is , using the laser beam propagation time and speed to measure the relative distance and direction between the UUV and the mother ship; the working principle of the multi-beam forward-looking sonar is to take the mother ship as the measurement target, and use the sound wave return time and speed of the ranging sonar to measure the relative distance between the UUV and the mother ship and direction; the working principle of synchronous positioning sonar is to use the working principle of ultra-short baseline, which is composed of the transmitting matrix installed on the test mother ship, the receiving matrix and the transponder fixed on the UUV carrier. The system measures the phase difference of the acoustic unit To determine the relative azimuth between the base array and the transponder, and finally determine the relative distance between the mother ship and the UUV by measuring the propagation time of the sound wave and correcting the sound velocity profile.

The relative position between the UUV and the mother ship can be measured by the above four guidance methods. Among them, the methods of using the GPS positioning device, using the marine laser rangefinder and using the synchronous positioning sonar involve the data transmission between the UUV and the mother ship. , so a reliable communication method is also the key to ensure the accurate positioning between the UUV and the mother ship in this scheme. This scheme adopts the communication method combining radio and underwater acoustic communication, and uses the delay time of underwater acoustic communication to correct the delay time based on RBF neural network fitting Acquired underwater acoustic communication positioning data.

The positioning data transmission frequency is 2Hz in the radio communication mode, and 0.5Hz in the underwater acoustic communication mode. Apply the data synchronization method to synchronize the underwater acoustic communication data to the time point of the radio sampling data, and complete the time registration of the two. The underwater acoustic communication data after time registration has an estimation of the underwater acoustic communication data near the radio sampling point value.

Figure 2 is a flow chart of underwater acoustic communication and radio communication data synchronization, the specific steps are:

Step 1: Use the RBF neural network to fit the underwater acoustic communication data. In order to complete the registration with the radio communication data, set the training step length as 0.5s, then the underwater acoustic communication data at any time 0.5t can be obtained, t=1s ,2s,...,ns;

Step 2: According to the relative position Δd of the UUV and the mother ship obtained by underwater acoustic communication, the acoustic wave transmission velocity v and the data calculation time ω _t (where ω _t is generally at the millisecond level and can be ignored), the following formula can be used to solve the delay time, From this, the delay time of each transmission relative distance point is obtained:

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\frac{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; v</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; \&ap;</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&CenterDot;</span>\frac{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; v</span>}}$

It means that when the positioning distance is Δd _i , the delay time of the i-th data is Δt _i .

Step 3: Advance the underwater acoustic communication data obtained by fitting the RBF network by Δt _i s respectively, that is, the corresponding time obtained by underwater acoustic communication at the final matching time is (0.5t-Δt _i ) s.

Step 4: The time corresponding to the distance Δd between the UUV and the mother ship obtained from step 3 is (0.5t-Δt _i )s, which may not be guaranteed to be an integer multiple of 0.5. In order to complete synchronization with the radio data, the RBF neural network is used again to simulate Just fit.

The present invention is mainly oriented to the multi-way guidance method when the UUV tracks the mother ship near the water surface, and can conveniently and effectively realize the mutual positioning and data transmission between the UUV and the mother ship, especially in harsh environments with strong system redundancy. Without departing from the concept of the present invention, all equivalent changes made by using the description and drawings of the present invention are all included in the scope of the claims of the present invention.

Claims (1)

1. a many ways guidance method during UUV approximately level tracking lash ship navigation, comprise GPS locating device, laser range finder peculiar to vessel, multibeam forward looking sonar and synchronous fixed sonar, GPS locating device comprises the gps antenna be arranged on respectively on UUV and lash ship, for receiving the locating information from gps satellite; Laser range finder peculiar to vessel is installed on lash ship, by relative distance and the direction of laser beam measuring UUV and lash ship; Multibeam forward looking sonar is installed on UUV, by relative distance and the direction of acoustic measurement lash ship and UUV; Synchronous fixed sonar comprise be installed on lash ship transmitting basic matrix, receive basic matrix and be installed on the transponder of UUV, synchronous fixed sonar completes relative distance and relative orientation between UUV and lash ship on the one hand, completes the underwater acoustic communication between UUV and lash ship on the other hand; Except synchronous fixed sonar, also comprise the wireless aerial being installed on UUV and lash ship respectively; It is characterized in that:

(1) GPS of UUV bearer configuration and lash ship GPS obtains respective absolute position simultaneously, between 2 o'clock, ask the conversion of the method pair warp and weft degree of distance to obtain relative orientation;

(2) relative distance and the direction of laser beam travel-time and velocity survey UUV and lash ship is utilized;

(3) be measurement target with lash ship, utilize the sound wave time of return of ranging sonar and the relative distance of velocity survey UUV and lash ship and direction; Data syn-chronization means are adopted to carry out temporal registration to radio data and underwater acoustic communication data:

(3.1) utilizing RBF neural to carry out matching to underwater sound communication data, for completing registration with radio-communication data, training pace being taken as 0.5s, then can obtain the underwater sound communication data in any 0.5t moment, t=1s, 2s ..., ns;

(3.2) UUV obtained according to underwater sound communication and the relative position Δ d of lash ship, sonic transmissions speed v and data resolving time ω _t, solve time delay, obtain the time delay of each transmission relative distance point thus:

${\mathrm{\&Delta;t}}_i=2\&CenterDot;\frac{{\mathrm{\&Delta;d}}_i}{v}+{\mathrm{\&omega;}}_t\&ap;2\&CenterDot;\frac{{\mathrm{\&Delta;d}}_i}{v}$

Represent when orientation distance is Δ d _itime, the time delay of i-th data is Δ t _i;

(3.3) the underwater sound communication data matching of RBF network obtained are according to shifting to an earlier date Δ t respectively _is, the corresponding time that namely during final match time, underwater sound communication obtains is 0.5t-Δ t _is;

(3.4) UUV is obtained with lash ship apart for the corresponding time of Δ d is 0.5t-Δ t by step (3.3) _is, might not ensureing it is the integral multiple of 0.5s, for completing synchronous with radio data, again utilizing RBF neural matching to carry out temporal registration;

(4) utilize ultra-short baseline principle of work, determine the relative bearing between basic matrix and transponder by the phase differential of mensuration sound unit, finally determined the relative distance of lash ship and UUV by the time and Sound speed profile correction measuring Acoustic Wave Propagation.