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CN107976188B - A kind of AUV back-dock navigation method based on ranging sound communication - Google Patents

A kind of AUV back-dock navigation method based on ranging sound communication Download PDF

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CN107976188B
CN107976188B CN201710949634.5A CN201710949634A CN107976188B CN 107976188 B CN107976188 B CN 107976188B CN 201710949634 A CN201710949634 A CN 201710949634A CN 107976188 B CN107976188 B CN 107976188B
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auv
base station
submarine base
submarine
circle
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CN107976188A (en
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杨灿军
林鸣威
李德骏
张涛
王天磊
林日
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Zhejiang University ZJU
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    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

本发明公开了一种基于测距声通的AUV回坞导航方法，包括以下步骤：(1)将AUV航行至与海底基站同样深度的位置后朝海底基站航行；(2)以AUV的位置为圆心，以测距声通测得的AUV与海底基站之间的距离为半径画圆，利用AUV处于不同位置时所画圆的交点来估计海底基站的位置；(3)根据获得的海底基站的位置进行AUV的航位推算，对AUV进行导航；(4)当AUV与海底基站之间的距离到达预设的距离阈值时，AUV按照预设半径的圆形轨迹环绕，环绕过程中结合AUV与海底基站之间的距离信息采用扩展卡尔曼滤波算法寻找AUV的定位可信的位置；(5)AUV从定位可信的位置朝海底基站航行进入视觉末端导引范围，根据视觉末端的导引进入海底基站。该导航方法精度高、成本低。

Figure 201710949634

The invention discloses an AUV back-dock navigation method based on ranging and acoustic communication, comprising the following steps: (1) sailing the AUV to a position with the same depth as the submarine base station and then sailing towards the submarine base station; (2) taking the position of the AUV as The center of the circle is to draw a circle with the distance between the AUV and the submarine base station measured by the ranging sound communication as the radius, and use the intersection of the circles drawn when the AUV is in different positions to estimate the position of the submarine base station; (3) According to the obtained submarine base station (4) When the distance between the AUV and the submarine base station reaches the preset distance threshold, the AUV circles according to the circular trajectory of the preset radius. The distance information between the submarine base stations uses the extended Kalman filter algorithm to find the reliable position of the AUV; (5) The AUV sails from the reliable position to the submarine base station and enters the visual terminal guidance range, and enters the visual terminal according to the guidance of the visual terminal. Submarine base station. The navigation method has high precision and low cost.

Figure 201710949634

Description

AUV docking navigation method based on ranging sonogram
Technical Field
The invention relates to a navigation and guidance method for a docking process of an AUV and a submarine base station, in particular to an AUV docking navigation method based on distance measurement acoustic communication.
Background
With the development of marine resources, Autonomous Underwater Vehicles (AUVs) are increasingly widely used. However, the AUV carries limited energy under water, and therefore requires recharging the AUV. In order to reduce costs, it is desirable that this charging process can be carried out directly underwater, rather than being carried out onshore with the mother vessel recovering it.
Chinese patent publication No. CN102320362A discloses a submarine docking device for recovering AUVs for charging. In order for the AUV to successfully interface with the subsea base station, an accurate navigation algorithm is required.
Because electromagnetic waves are rapidly attenuated in seawater, navigation and positioning can not be carried out on the seabed by using a GPS. Therefore, in the ocean, the navigation positioning is mainly performed by means of an acoustic positioning system, such as an Ultra Short Baseline (USBL), a Short Baseline (SBL), a Long Baseline (LBL), and the like.
Chinese patent publication No. CN104457754A discloses a navigation algorithm for positioning a submersible vehicle by using a long baseline, however, the premise of positioning by using a long baseline is that the baseline needs to be laid in advance in the region where the submersible vehicle is sailing, which increases the difficulty and cost of implementation. Although the difficulty of using the SBL and the USBL is reduced compared with that of using the LBL, the cost of the two positioning systems is still high, and the two positioning systems are difficult to popularize and apply, so that a navigation positioning method which has high navigation positioning precision and low cost and is suitable for an AUV and a submarine base station is needed.
After the AUV enters the visual guidance area, it needs to be ensured that the AUV can always see the navigation lights on the seabed base station under the interference of ocean currents, and therefore, a docking guidance method suitable for the AUV under the interference of ocean currents is needed.
Disclosure of Invention
The invention provides an AUV docking navigation method based on distance measurement acoustic communications, which is high in precision and low in cost.
An AUV docking navigation method based on ranging acoustic communication comprises the following steps:
(1) the AUV is submerged to the same depth as the seabed base station and navigates towards the seabed base station;
(2) in the process of navigating towards the seabed base station, the position of the AUV is taken as the center of a circle, the distance between the AUV and the seabed base station measured by ranging acoustic communications is taken as the radius to draw a circle, and the position of the seabed base station is estimated by using the intersection point of the circles drawn when the AUV is at different positions;
(3) carrying out dead reckoning of the AUV according to the obtained position of the seabed base station, and navigating the AUV;
(4) when the distance between the AUV and the seabed base station reaches a preset distance threshold value, the AUV surrounds according to a circular track with a preset radius, and an expansion Kalman filtering algorithm is adopted to find a position where the AUV can be reliably positioned in the surrounding process by combining the distance information between the AUV and the seabed base station;
(5) the AUV sails from the position with credible positioning to the seabed base station to enter the visual tail end guide range and enters the seabed base station according to the guide of the visual tail end.
The distance measuring sound channel is a pair of sound channels (Acoustic modems) with distance measuring function, one end of each sound channel is arranged on an AUV (autonomous underwater vehicle), and the other end of each sound channel is arranged on a submarine base station. And the AUV continuously receives distance information between the two transmitted by the seabed base station in the driving process.
In the step (2), the method for estimating the position of the seabed base station comprises the following steps:
according to the sequence of obtaining the distance information, the positions P1 and P2 of the AUV at two different moments are respectively taken as the center of a circle, the distances L1 and L2 between the corresponding AUV and the seabed base station are taken as the radius to draw a circle, and when the two circles intersect at one point, the intersection point is the position of the seabed base station;
if the two circles intersect at two points Q1 and Q2; drawing a circle by taking the position P3 of the AUV as the center of the circle and the distance L3 between the corresponding AUV and the seabed base station as the radius, wherein the circle intersects with the first two circles at a point Mi, and i is 0, 1, 2, 3 or 4;
when i is equal to 0, reading the position of the AUV at the next moment to replace P3, and continuing to draw a circle until i is equal to 0;
when i is not equal to 0, calculating the distances | MiQ1| and | MiQ2| between Mi and Q1 and Q2, and if | MiQ1| is the shortest distance, then Q1 is the position of the seabed base station; otherwise, Q2 is the location of the subsea base station.
And navigating the AUV after the position of the seabed base station is obtained.
In order to ensure the navigation accuracy, preferably, the steps (2) and (3) are repeated continuously to update the position of the seabed base station during the course of the AUV navigating towards the seabed base station.
In order to further improve the navigation precision, when the AUV navigates to a certain distance from the seabed base station, the AUV is navigated by adopting the navigation method with higher precision in the step (4).
In the step (4), the preset distance threshold and the preset radius are determined according to the actual navigation positioning effect.
In the step (4), the system state equation adopted by the extended kalman filtering algorithm is as follows:
Figure BDA0001431951420000031
wherein f is a system function, XkIs the system state variable at time k, Xk-1Is the system state variable at time k-1, vk-1Is the state noise vector at time k-1, t is the sampling interval, u is the AUV forward velocity, v is the AUV lateral velocity, ψ is the yaw angle of the AUV, (x)AUV，yAUV) Absolute coordinates of the plane of the AUV on the seabed base station;
the observation equation used is:
Figure BDA0001431951420000032
wherein Z iskFor the observation equation, g is the measurement function, wkTo observe noise, vsoundSpeed of sound propagation in sea water, (x)tra，ytra) Absolute coordinates when the AUV emits an acoustic signal, (x)rec，yrec) The absolute coordinates of the AUV when receiving the response signal returned by the submarine base station.
Further, in step (4), the method for finding the credible location of the AUV includes:
(4-1) initializing the state of the AUV:
P0＝var(X0)，X0＝E(X0)
wherein, P0Is an initial state variable X0The covariance matrix of (a);
(4-2) status update of AUV:
Figure BDA0001431951420000033
Xk，k-1＝f(Xk-1)
wherein Q isk-1Is a covariance matrix of state noise, Pk，k-1To update the process state variable covariance matrix, Xk，k-1To update process state variables, Pk-1A state variable covariance matrix at the moment of k-1;
(4-3) performing state correction on the AUV:
Figure BDA0001431951420000041
Figure BDA0001431951420000042
Xk＝Xk，k-1+Gk(Tk-g(Xk，k-1))
wherein G iskIs a Kalman gain matrix, Xk，k-1To update the process state variables, TkTime interval for transmitting acoustic signal to seabed base station and receiving response, R, for the most recent AUVkCovariance matrix, P, for the measured noise at time kkA state variable covariance matrix at the moment k;
(4-4) judging the positioning error:
the structural error discriminant is as follows:
Figure BDA0001431951420000043
if Delta < gamma2If the AUV is determined to be credible, determining that the AUV is positioned at the moment; otherwise, the AUV continues to perform surrounding navigation according to the circular track;
in the above formula, γ2Is a set threshold constant. Gamma ray2According to the actual AUV docking success rate.
More preferably, in the step (4), the steps (4-1) and (4-2) are repeatedly executed to perform dead reckoning to obtain the position information of the navigation device for navigation in the interval that the observation data is not obtained to perform the state correction; and after obtaining the position with credible positioning, performing combined navigation according to the steps (4-1) - (4-3).
In the step (5), after the AUV enters the guidance range of the visual end, the AUV enters the seabed base station according to the guidance of the visual end, and the method includes:
(5-1) adjusting the opening direction of the seabed base station to be the same as the direction of the ocean current;
the ocean current direction and size are measured by the seabed base station according to an Acoustic Doppler Current Profiler (ADCP) carried by the seabed base station, and the opening direction of the seabed base station is adjusted to be the same as the ocean current direction;
the opening direction of the seabed base station is adjusted, the influence of ocean current on AUV butt joint can be overcome, and the AUV butt joint success rate is improved;
(5-2) calculating an AUV yaw angle constraint range corresponding to a critical condition that the submarine base station appears in the AUV sight range;
calculating an AUV yaw angle constraint range according to the visual angle of the AUV head camera and the yaw angle of the AUV, and taking the AUV yaw angle constraint range as a yaw angle boundary of the AUV in the guidance control process;
(5-3) performing guidance control by taking a connection line between the AUV and the seabed base station as an ideal air route, wherein the yaw angle of the AUV is controlled within the AUV yaw angle constraint range calculated in the step (5-2);
and (5-4) entering the AUV into the submarine base station.
Compared with the prior art, the navigation method has the advantages that:
(1) the relative position relation between the AUV and the submarine base station is obtained by utilizing a pair of acoustic channels with distance measuring functions, and compared with LBL, SBL and USBL underwater acoustic positioning systems, the cost is reduced;
(2) the absolute position of the AUV is solved by using a circle drawing method of distance information, and the method is simple and has good real-time property;
(3) the AUV navigates at the front end of the seabed base station according to a circular track, positioning points meeting error requirements are continuously searched, and positioning accuracy is improved;
(4) the submarine base station can overcome the influence of ocean current on AUV butt joint through automatic steering, and the butt joint success rate is improved.
Drawings
FIG. 1 is a schematic diagram of an AUV circle-drawing positioning subsea base station;
FIG. 2 is a schematic diagram of the positioning of the AUV around a circular trajectory;
fig. 3 is a schematic diagram of the subsea base station adjusting its opening direction according to the direction of ocean currents.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
A pair of acoustic transmitters with distance measuring function is arranged on the AUV at one end and on the seabed base station at the other end. The GPS coordinates of the deployed position of the subsea base station are known. After the AUV obtains the initial position of the AUV on the water surface through the GPS, the AUV starts to dive and drives towards the seabed base station. After the AUV travels to the coverage range of the acoustic signals, the AUV can continuously receive distance information sent by the seabed base station in the process of traveling.
As shown in fig. 1, the positions of the three AUVs and the corresponding distance information are respectively taken according to the sequence of obtaining the distance information. Three of the position information are defined as: position 1(P1), position 2(P2) and position 3 (P3); the three corresponding distance information are: l1, L2 and L3; taking P1 and P2 as circle centers, the radiuses L1 and L2 respectively draw circles, and the two circles intersect at points Q1 and Q2 (when Q1 and Q2 are overlapped, Q1(Q2) is the position of the seabed base station); drawing a circle by taking P3 as a center and L3 as a radius, wherein the circle has i intersection points (i is 0, 1, 2, 3 or 4) with the previous two circles, the ith intersection point is a point Mi, and the absolute coordinates of the horizontal plane of the seabed base station are assumed to be (0, 0);
if i is equal to 0, continuing to read next distance information to replace the distance and the position information of the position 3, and continuing to draw a circle until i is not equal to 0; the distances | MiQ1| and | MiQ2| of all the intersection points Mi from Q1 and Q2 are calculated. If the shortest distance is one of | MiQ1|, then Q1 is the position of the subsea base station; conversely, Q2 is the location of the subsea base station;
after the AUV obtains the base station position, the AUV opens towards the submarine base station by dead reckoning. In the process, the circle drawing method is continuously repeated to update the position of the seabed base station, so that the navigation precision is ensured.
As shown in fig. 2, when the AUV navigates to the area in front of the subsea base station for a certain distance (the distance is determined according to the actual navigation effect), the AUV starts to circle along a circular trajectory (the center of the circular trajectory is not determined, and the radius thereof may be determined) with a certain radius (the radius is determined according to the actual navigation effect).
And in the surrounding process, an expanded Kalman filtering algorithm is adopted to find the credible positioning position of the AUV by combining the distance information between the AUV and the seabed base station.
The system state equation adopted by the extended Kalman filtering algorithm is as follows:
Figure BDA0001431951420000061
wherein f is a system function, XkIs the system state variable at time k, Xk-1Is the system state variable at time k-1, vk-1Is the state noise vector at time k-1, t is the sampling interval, u is the AUV forward velocity, v is the AUV lateral velocity, ψ is the yaw angle of the AUV, (x)AUV，yAUV) Absolute coordinates of the plane of the AUV on the seabed base station;
the observation equation used is:
Figure BDA0001431951420000062
wherein Z iskFor the observation equation, g is the measurement function, wkTo observe noise, vsoundSpeed of sound propagation in sea water, (x)tra，ytra) Absolute coordinates when the AUV emits an acoustic signal, (x)rec，yrec) The absolute coordinates of the AUV when receiving the response signal returned by the submarine base station.
The method for finding the credible location of the AUV comprises the following steps:
(4-1) initializing the state of the AUV:
P0＝var(X0)，X0＝E(X0)
wherein, P0Is an initial state variable X0The covariance matrix of (a);
(4-2) status update of AUV:
Figure BDA0001431951420000071
Xk，k-1＝f(Xk-1)
wherein Q isk-1Is a covariance matrix of state noise, Pk，k-1To update the process state variable covariance matrix, Xk，k-1To update process state variables, Pk-1A state variable covariance matrix at the moment of k-1;
(4-3) performing state correction on the AUV:
Figure BDA0001431951420000072
Figure BDA0001431951420000073
Xk＝Xk，k-1+Gk(Tk-g(Xk，k-1))
wherein G iskIs a Kalman gain matrix, Xk，k-1To update the process state variables, TkTime interval for transmitting acoustic signal to seabed base station and receiving response, R, for the most recent AUVkCovariance matrix, P, for the measured noise at time kkA state variable covariance matrix at the moment k;
(4-4) judging the positioning error:
the structural error discriminant is as follows:
Figure BDA0001431951420000074
if Delta < gamma2If the AUV is determined to be credible, determining that the AUV is positioned at the moment; otherwise, the AUV continues to perform surrounding navigation according to the circular track;
in the above formula, γ2Is a set threshold constant. Gamma ray2According to the actual AUV docking success rate.
After the AUV obtains credible self-positioning, performing combined navigation according to the steps (4-1) - (4-3); in the interval when the state correction is performed without obtaining the observation data, the steps (4-1) and (4-2) are repeatedly executed to perform dead reckoning, and the navigation is performed by obtaining the position information of the navigation device.
When the AUV enters the visual tail end guide range, the AUV guide method needs to compensate according to the direction and the size of ocean current and is realized according to the following steps:
step 1, after the AUV drives into a visual guidance area, the submarine base station measures the direction and the size of ocean current according to an Acoustic Doppler Current Profiler (ADCP) carried by the submarine base station, and simultaneously adjusts the opening direction of the submarine base station to be the same as the ocean current direction, as shown in fig. 3;
step 2, calculating an AUV yaw angle constraint range corresponding to a critical condition that the submarine base station appears in an AUV sight line range according to the visual angle of the AUV head camera and the yaw angle of the AUV, and taking the AUV yaw angle constraint range as a yaw angle boundary in the guidance control process;
step 3, using the connection line of the AUV and the seabed base station as an ideal air route for guidance control, wherein the control range of the yaw angle is ensured to be within the boundary calculated in the step 2;
and 4, entering the AUV into the submarine base station.
The above-mentioned embodiments are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions, equivalents, etc. made within the scope of the principles of the present invention should be included in the scope of the present invention.

Claims (4)

1.一种基于测距声通的AUV回坞导航方法，其特征在于，包括以下步骤：1. an AUV back-dock navigation method based on ranging sound communication, is characterized in that, comprises the following steps: (1)将AUV下潜至与海底基站同样深度后朝海底基站航行；(1) Dive the AUV to the same depth as the submarine base station and then sail towards the submarine base station; (2)在朝海底基站航行过程中，以AUV的位置为圆心，以测距声通测得的AUV与海底基站之间的距离为半径画圆，利用AUV处于不同位置时所画圆的交点来估计海底基站的位置，方法为：(2) In the process of sailing towards the submarine base station, take the position of the AUV as the center of the circle, and draw a circle with the distance between the AUV and the submarine base station measured by the ranging sound as the radius, and use the intersection of the circles drawn when the AUV is in different positions. To estimate the location of the submarine base station, the method is: 按照获得距离信息的先后顺序，分别以AUV的两个不同时刻的位置P1、P2为圆心，以对应的AUV与海底基站之间的距离L1、L2为半径画圆，两圆相交于一点时，交点为海底基站的位置；According to the sequence of obtaining the distance information, draw a circle with the positions P1 and P2 of the AUV at two different times as the center and the distances L1 and L2 between the corresponding AUV and the submarine base station as the radius. When the two circles intersect at one point, The intersection point is the location of the submarine base station; 若两圆交于两点Q1和Q2；以下一时刻AUV的位置P3为圆心，以对应的AUV与海底基站之间的距离L3为半径画圆，此圆与前两圆交于点Mi，其中i＝0、1、2、3或4；If the two circles intersect at two points Q1 and Q2; the position P3 of the AUV at the next moment is the center of the circle, and the distance L3 between the corresponding AUV and the submarine base station is used as the radius to draw a circle, and this circle intersects the first two circles at point Mi, where i=0, 1, 2, 3 or 4; i＝0时，读取下一时刻AUV的位置代替P3，继续画圆，直至i≠0；When i=0, read the position of the AUV at the next moment instead of P3, and continue to draw a circle until i≠0; i≠0时，计算Mi与Q1、Q2的距离|MiQ1|、|MiQ2|，若|MiQ1|为最短距离，则Q1为海底基站的位置；反之，则Q2为海底基站的位置；When i≠0, calculate the distances |MiQ1| and |MiQ2| between Mi and Q1 and Q2. If |MiQ1| is the shortest distance, then Q1 is the position of the submarine base station; otherwise, Q2 is the position of the submarine base station; (3)根据获得的海底基站的位置进行AUV的航位推算，对AUV进行导航；(3) Carry out dead reckoning of the AUV according to the obtained position of the submarine base station, and navigate the AUV; (4)当AUV与海底基站之间的距离到达预设的距离阈值时，AUV按照预设半径的圆形轨迹环绕，环绕过程中结合AUV与海底基站之间的距离信息采用扩展卡尔曼滤波算法寻找AUV的定位可信的位置；(4) When the distance between the AUV and the submarine base station reaches the preset distance threshold, the AUV circles according to the circular trajectory of the preset radius, and the extended Kalman filtering algorithm is used in combination with the distance information between the AUV and the submarine base station during the circle process. Find the credible position of the AUV's positioning; (5)AUV从定位可信的位置朝海底基站航行进入视觉末端导引范围，根据视觉末端的导引进入海底基站。(5) The AUV sails from the credible position to the submarine base station and enters the visual terminal guidance range, and enters the submarine base station according to the guidance of the visual terminal. 2.根据权利要求1所述的AUV回坞导航方法，其特征在于，在AUV朝海底基站航行过程中，不断重复步骤(2)和(3)对海底基站的位置进行更新。2 . The AUV back-dock navigation method according to claim 1 , wherein, during the navigation of the AUV toward the submarine base station, steps (2) and (3) are continuously repeated to update the position of the submarine base station. 3 . 3.根据权利要求1所述的AUV回坞导航方法，其特征在于，步骤(4)中，扩展卡尔曼滤波算法采用的系统状态方程为：3. AUV back-dock navigation method according to claim 1, is characterized in that, in step (4), the system state equation that the extended Kalman filter algorithm adopts is:
Figure FDA0002368780220000021
Figure FDA0002368780220000021
 其中，f为系统函数，Xk为k时刻的系统状态变量，Xk-1为k-1时刻的系统状态变量，vk-1为k-1时刻的状态噪声向量，t是采样时间间隔，u是AUV前向速度，v是AUV侧向速度，ψ为AUV的偏航角，(xAUV,yAUV)为AUV在海底基站所处平面的绝对坐标；where f is the system function, X k is the system state variable at time k, X k-1 is the system state variable at time k-1, v k-1 is the state noise vector at time k-1, and t is the sampling time interval , u is the forward speed of the AUV, v is the lateral speed of the AUV, ψ is the yaw angle of the AUV, (x AUV , y AUV ) is the absolute coordinate of the AUV on the plane where the submarine base station is located; 采用的观测方程为：The observation equation used is:
Figure FDA0002368780220000022
Figure FDA0002368780220000022
 其中，Zk为观测方程，g为量测函数，wk为观测噪声，vsound为声音在海水中传播的速度，(xtra,ytra)为AUV发出声学信号时的绝对坐标，(xrec,yrec)为AUV收到海底基站返回的应答信号时的绝对坐标。Among them, Z k is the observation equation, g is the measurement function, w k is the observation noise, v sound is the speed of sound propagation in seawater, (x tra , y tra ) is the absolute coordinate when the AUV sends out the acoustic signal, (x tra , y tra ) rec , y rec ) are the absolute coordinates when the AUV receives the response signal returned by the submarine base station. 4.根据权利要求1所述的AUV回坞导航方法，其特征在于，步骤(5)包括：4. AUV back-dock navigation method according to claim 1, is characterized in that, step (5) comprises: (5-1)将海底基站的开口朝向调整到与洋流方向相同；(5-1) Adjust the opening of the submarine base station to the same direction as the ocean current; (5-2)计算海底基站出现在AUV视线范围的临界条件所对应的AUV偏航角约束范围；(5-2) Calculate the AUV yaw angle constraint range corresponding to the critical condition that the submarine base station appears in the AUV line of sight; (5-3)以AUV与海底基站的连线作为理想航线进行导引控制，AUV的偏航角控制在步骤(5-2)计算得到的AUV偏航角约束范围内；(5-3) Use the connection between the AUV and the submarine base station as an ideal route to conduct guidance control, and the yaw angle of the AUV is controlled within the AUV yaw angle constraint range calculated in step (5-2); (5-4)AUV进入海底基站。(5-4) The AUV enters the submarine base station.
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