CN109470248A - An underwater vehicle navigation system and navigation method - Google Patents
An underwater vehicle navigation system and navigation 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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Abstract
本发明公开了一种水下航行器导航系统及导航方法，导航系统包括海洋物联网感知体系、海洋模拟器、航线控制器和水下滑翔机，所述海洋物联网感知体系将海洋数据传输至海洋模拟器，海洋模拟器模拟海洋状态，并传输至航线控制器；航线控制器规划滑翔机航行路线并传输至水下滑翔机，并且输出水下滑翔机姿态调整程序至水下滑翔机。姿态调整时考虑洋流影响，根据具体海域的海况动态调整，不仅可以达到节省功耗的效果，而且可以有效降低海流对滑翔机航线的影响。
The invention discloses an underwater vehicle navigation system and a navigation method. The navigation system includes a marine Internet of Things perception system, a marine simulator, a route controller and an underwater glider, and the marine Internet of things perception system transmits marine data to the ocean. The simulator, the ocean simulator simulates the ocean state and transmits it to the route controller; the route controller plans the sailing route of the glider and transmits it to the underwater glider, and outputs the underwater glider attitude adjustment program to the underwater glider. The influence of ocean currents is considered during attitude adjustment, and dynamic adjustment according to the sea conditions of specific sea areas can not only achieve the effect of saving power consumption, but also effectively reduce the impact of ocean currents on the glider's route.
Description
Technical field
The invention belongs to submarine navigation device field of navigation technology, and in particular to a kind of autonomous Underwater Vehicle Navigation System and navigation
Method.
Background technique
In order to develop marine resources, find the energy, mineral products and living resources etc., human use's Autonomous Underwater aircraft into
Row seafari.It is a kind of combines buoy technology with underwater robot technology, by the novel of itself net buoyancy driving
Underwater robot system.Underwater glider reduces carrier using built-in attitude-adjusting system and without plug-in driving device
External device, avoid the destruction to carrier line style, substantially improve the hydrodynamic characterisitic of system.Underwater glider is as one
The novel Autonomous Underwater aircraft (AUV) of kind, at low cost, voyage is remote, dive is deep, hours underway is long, has independent navigation
The characteristics such as ability, design object are to pass through carry inhomogeneity as in big depth, a wide range of interior underwater observation platform moved
The sensor of type becomes a part indispensable in sea bed observation platform.
The purpose of underwater glider navigation is sampled to marine environment, this relates to two problems:
1. the path planning of underwater glider, so that the collected data of underwater glider are experimenter's desired zones
Valid data.
2. the operational configuration of underwater glider, so that the energy consumption of navigation is minimum.
For problem 1, the method that the navigation path solution of aerodone generally uses fixed route at present.Launching
Navigation path is input to gliding machine control system when aerodone, in sea during examination, aerodone will be according to being stored in the machine
In navigation path navigate.
For problem 2, the solution of aerodone technology is in navigation, using electronic compass, posture and course at present
Frame of reference provides the underwater posture information of aerodone, is calculated by boat position of the pose adjustment algorithm to itself.
To solve above-mentioned two technical problem, the flight guidance scheme of underwater glider is main at present are as follows: user sets boat
Row start-stop point.After the navigational duty that AUV is determined, starting longitude and latitude is obtained by GPS, according to the longitude and latitude of given target point, knot
The yaw angle that compass measures is closed, original heading is specified.Aerodone, which is first spinned, moves adjustment course, then does in vertical vertical section
Zigzagging.Course is corrected by GPS in the water surface after each dive floating, target point is approached in a manner of gradually rectifying a deviation.
But the prior art mainly has following deficiency:
1. underwater glider can only be after the acquisition GPS information that floats, then plans the navigation strategy of dive next time.Due to water
The lower each Diving Time of aerodone is longer, during dive, if underwater glider navigates by water standoff, cannot obtain
Timely correction.
2. the flow direction and flow velocity of ocean current change frequent occurrence in practical sea situation, navigation route of the ocean current for aerodone
There is bigger influence with underwater posture, and the ocean current on course line can not be influenced to receive by the prior art when navigating by water design
Enter in the design factor in course line.It, may if not considering the sea situation situation of underwater glider surrounding waters in route design
Increase power consumption when aerodone navigation.
3. the physical message of ocean can be obtained by observation grids such as buoy, subsurface buoys, if the course line of underwater glider is not
Consider acquired sea situation information, it is likely that duplicate the case where obtaining data.
Therefore, it is necessary to design a kind of novel AUV navigation system, the marine physics letter obtained on the one hand can be comprehensively considered
Breath plans course line, avoids repeating to obtain data；On the one hand can achieve the effect that save power consumption, moreover it is possible to ocean current be effectively reduced to AUV
The influence in course line.
Summary of the invention
In view of the deficienciess of the prior art, the present invention provides a kind of intelligence simulated based on big data analysis and ocean model
Energy autonomous Underwater Vehicle Navigation System and air navigation aid, AUV floats every time can obtain new navigation route planning by navigation system,
And the control program for needing to complete when dive next time, the navigation posture of AUV in water is adjusted according to predetermined action.AUV is obtained
The navigation information arrived executes corresponding navigation movement and navigation route according to navigation information in the dive task next time of execution,
It not only can achieve the effect for saving power consumption, but also influence of the ocean current to the course line AUV can be effectively reduced.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that:
A kind of autonomous Underwater Vehicle Navigation System, including ocean Internet of Things perception system, ocean simulation device, flight course control device and
Underwater glider；
The ocean Internet of Things perceives system, is transmitted to for collecting marine physics and chemical information, and by oceanographic data
Ocean simulation device；
Oneself state information and location information are transmitted to flight course control device by the underwater glider, and receive course line control
The control instruction information that device processed is sent；
The ocean simulation device is the mainframe computer cluster based on supercomputer, based on the received ocean number
It sea state and is stored according to simulation, can also obtain the data of underwater glider by flight course control device, ocean simulation device is by mould
The quasi- ocean current information being calculated is sent to flight course control device；
The flight course control device, the location information of underwater glider and ocean current information, obtain aerodone institute based on the received
Locate the ocean current situation of position, output underwater glider pose adjustment program to underwater glider；And plan aerodone navigation route,
It is transmitted to underwater glider.
Further, ocean Internet of Things perception system include cloth be placed on sea area, equipped with for acquiring marine physics
And buoy, subsurface buoy, scientific investigation ship and the ocean remote sensing satellite of the sensor of chemical information, it further include the cloud for storing oceanographic data
Storage end.
Further, the ocean simulation device further includes that massive real-time data obtains module, data processing module, storage mould
Block, data transmission module, massive real-time data obtain the sea that module obtains the cloud storage end storage of ocean Internet of Things perception system
Foreign data are stored in memory module by data processing module analog simulation sea state, and are transmitted to flight course control device, packet
It includes but is not limited to ocean current information, weather conditions, wind field.
Further, the underwater glider is equipped with communication module and navigation module, is additionally provided with attitude regulation unit, posture
Adjusting unit includes that roll attitude adjusts unit and pitch attitude adjusting unit；Navigation module receives course line control by communication module
The underwater glider pose adjustment program and navigation route that device processed is sent, and it is transmitted to attitude regulation unit.
Preferably, it is communicated to connect between the underwater glider and flight course control device by satellite communication system.
The present invention also provides a kind of submarine navigation device air navigation aids, are carried out using autonomous Underwater Vehicle Navigation System above-mentioned,
The following steps are included:
(1) it builds ocean Internet of Things perception system: laying buoy, subsurface buoy, scientific investigation ship and ocean remote sensing satellite on sea area,
And sensor is installed in each equipment, oceanographic data is acquired in real time, is stored in cloud storage end；
(2) sea state analog simulation: by ocean simulation device analog simulation sea state, including but not limited to ocean current is believed
Breath, weather conditions, wind field, and the ocean current information that analog simulation calculates is sent to flight course control device；
(3) flight course planning: according to the sea situation information in known sea area and the location information of underwater glider, determination most needs at present
The location information in target sea area is included in route design by the sea area for acquiring data, is planned aerodone navigation route again, is made
Obtain the needs that the oceanographic data that underwater glider is collected into more meets entire oceanographic observation system；
(4) underwater glider posture dynamic adjusts: according to the location information of underwater glider and ocean current information, being calculated
The ocean current information of underwater glider present position；Ocean currents are included in aerodone pose adjustment algorithm, determine aerodone posture
Adjustment programme, is sent to underwater glider, and dynamic adjusts the posture of underwater glider.
Further, in step (2), ocean simulation device establishes ocean large database concept by obtaining oceanographic data；Based on super
The computing capability of grade computer cluster, is simulated and is predicted to sea state by the method for analog simulation, by analogue simulation
It obtains ocean current information and is transmitted to flight course control device；The data of underwater glider can be obtained from flight course control device in real time simultaneously.
Further, in step (3), flight course control device obtains the location information of underwater glider, and according to having passed through
Ocean Internet of Things perceives the sea situation information that system obtains, and judgement currently still lacks the data blind spot of marine information, determines and needs to adopt
The target position for collecting marine information, plans course line again, so that underwater glider is navigated by water to the target for needing to acquire marine information
Position carries out the acquisition of information, reaches the information collection to oceanographic data blind spot.
Further, in step (4), according to aerodone pose adjustment algorithm and ocean current situation, optimization posture is calculated
Adjustment programme, and underwater glider is transmitted to by satellite communication system；Underwater glider is adjusted by attitude regulation unit dynamic
The posture of whole underwater glider reduces power consumption.
Compared with prior art, the invention has the advantages that:
(1) aerodone floats every time can get new routing plan, and the control journey for needing to complete when dive next time
Sequence, aerodone again dive when, on the one hand combine the application demand of oceanographic data acquisition, corresponding boat executed according to navigation information
Aerodone can be sent to the target position sea area for needing most acquisition data by walking along the street line by navigation system, carried out data acquisition, reached
To the information collection to oceanographic data blind spot；
(2) on the other hand, the navigation posture according to predetermined action adjustment in water executes corresponding navigation movement, not only
It can achieve the effect for saving power consumption, and influence of the ocean current to aerodone course line can be effectively reduced, timely correction avoids sliding
Xiang machine standoff, achievees the purpose that Route optimization.
It (3) is no longer simple fixing means when designing underwater navigation gesture stability program, but according to specific sea area
Sea conditions dynamic adjust, such design can further decrease aerodone navigation when power consumption.
Detailed description of the invention
Fig. 1 is the block diagram of navigation system of the invention；
Fig. 2 is air navigation aid general flow chart of the invention；
Fig. 3 is that coordinate system defines schematic diagram in pose adjustment algorithm of the present invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further illustrated.
As shown in Figure 1, autonomous Underwater Vehicle Navigation System, including ocean Internet of Things perception system, ocean simulation device, course line control
Device and underwater glider processed.
Wherein, ocean Internet of Things perceives system, is transmitted to for collecting marine physics and chemical information, and by oceanographic data
Ocean simulation device.Ocean Internet of Things perception system be mainly by cloth be placed on global sea area, equipped with for acquire marine physics and
Buoy, subsurface buoy, scientific investigation ship and the ocean remote sensing satellite composition of the sensor of chemical information, further comprise for storing oceanographic data
Cloud storage end composition.It, can also be with for known global ocean observational network can be utilized directly convenient for utilizing existing technological achievements
Intelligent buoy net etc. is built again as needed, more fully acquisition oceanographic data.
Ocean simulation device is the mainframe computer cluster based on supercomputer, passes through big data excavation and ocean
Simulation algorithm (algorithm of the prior arts such as numbered analog simulation algorithm may be implemented, and details are not described herein again) obtains a timing
Between the oceans such as the ocean current information of global ocean in range (including time in the past section and future time section), weather conditions, wind field
Status information, sea state information cannot be only used for the aerodone pose adjustment and flight course control that the present embodiment is related to, can be with
With the shared use of other equipment.Ocean simulation device can also obtain the data of underwater glider by flight course control device.Ocean mould
There is quasi- device massive real-time data to obtain module, data processing module, memory module, data transmission module, massive real-time data
The oceanographic data that module obtains the cloud storage end storage of ocean Internet of Things perception system is obtained, is simulated by data processing module imitative
True sea state is stored in memory module, and is transmitted to flight course control device.
The ocean current information that analogue simulation obtains is pushed to flight course control device by ocean simulation device.Flight course control device receives underwater
The location information and ocean current information of aerodone, can obtain the ocean current situation of aerodone present position.Flight course control device main task
There are two.One is to plan aerodone navigation route according to the sea situation information in known sea area and the location information of aerodone, and pass
Underwater glider is transported to, so that underwater glider can be navigated by water to the acquisition for needing most acquisition data sea area progress information.Another party
Adjustment algorithm is navigated by water according to underwater glider, exports water according to the sea situation for the sea area that underwater glider will navigate by water in face
Lower aerodone pose adjustment program, until underwater glider.
The aerodone mechanical structure of the prior art can be directly applied on the Design of Mechanical Structure of underwater glider, herein no longer
It repeats, difference is in the transmission and control method of data.Underwater glider of the invention believes oneself state information and position
Breath is transmitted to flight course control device above-mentioned, and receives the control instruction information of flight course control device transmission, including flight course planning information
With pose adjustment information.
Only it is briefly described with innovative point relevant portion of the present invention for the present embodiment, and other structures are not said again herein
Bright, underwater glider is equipped with communication module and navigation module, is additionally provided with attitude regulation unit, navigation module is connect by communication module
The underwater glider pose adjustment program and navigation route that flight course control device is sent are received, and is transmitted to attitude regulation unit.Posture
Adjusting unit includes that roll attitude adjusts unit and pitch attitude adjusting unit.The cardinal principle of attitude regulation is motor and gear
Group pitches by the adjusting to ballast pouring weight and aerodone is adjusted in two postures of rolling.
In terms of communication mode, communicated to connect between underwater glider and flight course control device by satellite communication system.
Submarine navigation device air navigation aid is described in detail below with reference to navigation system above-mentioned, as shown in Fig. 2, including following step
It is rapid:
(1) it first has to build ocean Internet of Things perception system.
Buoy, subsurface buoy, scientific investigation ship and ocean remote sensing satellite are laid on sea area, and intelligent sensing is installed in each equipment
Device acquires oceanographic data in real time, is stored in cloud storage end.Well laid global ocean observational network, intelligence can directly be utilized
Buoy net directly acquires the marine information of global ocean observational network acquisition；It can also be observed according to demand in existing global ocean
On the basis of net, increase the arrangement such as buoy；Buoy, subsurface buoy etc. can also be laid again, build a new ocean Internet of Things sense
Know system.
(2) sea state analog simulation.
Mainframe computer cluster using based on supercomputer is set up as ocean simulation device, ocean simulation device by from
Ocean Internet of Things perceives system and obtains oceanographic data, establishes ocean large database concept；Based on the computing capability of supercomputer cluster,
Sea state is simulated by the method for analog simulation, sea state includes but is not limited to ocean current information, weather conditions, wind
, and the ocean current information that analog simulation calculates is sent to flight course control device；Ocean simulation device can pass through flight course control device simultaneously
Obtain the oneself state information and location information of underwater glider.
(3) after the marine information that ocean simulation device obtains analogue simulation is transmitted to flight course control device, flight course control device master
Want task first is that planning underwater glider flight course planning.
Flight course control device obtains the location information of underwater glider, and obtains according to system is perceived by ocean Internet of Things
The sea situation information obtained, judgement currently still lack the data blind spot of marine information, determine the sea for needing most acquire marine information at present
Domain (the namely target position of aerodone dive next time).Determine that method without limiting, can be from data model herein
Angle analysis, such as the POP2 ocean model in CESM.Each coupling model can have the concept of " grid ", i.e. simulation precision, such as
Simulate the water area to 1,000 square kilometres, or the water area simulated to 0.5 square kilometre.Simulator can will simulate
Sea area be divided into several grids, and we need to acquire the oceanographic data in grid to calculate the whole oceanic condition in grid.
Target position information is included in route design, plans aerodone navigation route again, so that underwater glider navigates
Row carries out the acquisition of information to the target position for needing to acquire marine information, reaches the information collection to oceanographic data blind spot, can
So that the data got are more comprehensively, so that the oceanographic data that underwater glider is collected into more meets entire oceanographic observation system
It needs.
(4) another vital task of flight course control device is output underwater glider gesture stability program instruction, carries out water
Lower aerodone posture dynamic adjusts.
According to the location information of underwater glider and ocean current information, underwater glider institute can be calculated in flight course control device
Locate the ocean current information of position；And ocean currents are included in aerodone pose adjustment algorithm, determine that aerodone optimizes pose adjustment
Program, and underwater glider is transmitted to by satellite communication system, dynamic adjusts the posture of underwater glider.Underwater glider connects
After receiving underwater glider gesture stability program instruction, the appearance of underwater glider is timely dynamically adjusted by attitude regulation unit
State is adjusted the posture of aerodone by dynamic in real time, achievees the purpose that lower power consumption.
The method of the specific pose adjustment of current aerodone, there is more complete attitude control method.Below to gliding
The attitude adjusting method of machine is elaborated.It is broadly divided into the following aspects: 1. aerodone establishment of coordinate system.2. movement becomes
Amount definition and coordinate system transformational relation.3. glide maneuver mechanical equation.4. dynamic numerical simulation.
One, aerodone establishment of coordinate system
The first step for carrying out gesture stability is to establish coordinate system, as shown in figure 3, establishing following three coordinate systems to analyze
The motion process of underwater glider.
1. earth axes
Earth axes are denoted as SE, it is mainly used to describe relative position of the underwater glider in ocean, for convenient for discussing,
Using the place of entry of underwater glider as coordinate origin, EXAxis in the horizontal plane, is directed toward aerodone initial motion direction, EYAxis hangs down
The straight water surface downward, EZAxis respectively with EXAxis and EYAxis is vertical, and direction is determined by the coordinate system right-hand rule.
2. aerodone body coordinate system
Body coordinate system is denoted as SB, for describing the underwater posture of aerodone.Aerodone centre of buoyancy B is chosen to sit as ontology
Mark system origin, BxAxis is positive forward along the longitudinal axis of aerodone, ByAxle position is in aerodone vertical section and perpendicular to BxAxis works as gliding
Machine is positive under being directed toward when sea normally floats, BzAxis is perpendicular to BxAxis and ByAxis, direction meet the right-hand rule.
3. velocity coordinate system
Velocity coordinate system is denoted as Sv, it is the coordinate origin being associated with aerodone route speed vector and body coordinate system
Origin is overlapped, VxIt is overlapped with aerodone route speed vector, VyIn the vertical plane of symmetry of aircraft, perpendicular to VxAnd under being directed toward
Side.VzPerpendicular to VxVyThe right-hand rule is obeyed in face, direction.
Two, kinematic variables definition and coordinate system transformational relation
According to the coordinate system of foundation, between the posture available ontologies coordinate system and earth axes of aerodone in space
Three angles ψ, θ, φ are determined.
Pitching angle theta: for body coordinate system BxAxis and earth axes EXEYThe angle of plane, when gliding chain-drive section is biased to EXEY
When plane is upward, θ is positive value.
Roll angle φ: for the B of body coordinate systemxByPlane and earth axes EXEYThe angle of interplanar can also indicate
For body coordinate system ByAxis with perpendicular to earth axes EXEYPlane and pass through BxThe angle of the vertical plane of axis.From gliding tail
Portion is seen towards cephalad direction, if ByAxis is biased to the right side of vertical plane, then φ is positive value.
Yaw angle ψ: for body coordinate system BxAxis is in earth axes EXEZProjection and E in planeXThe angle of axis, works as cunning
Xiang chain-drive section is biased to EXWhen on the outside of axis, ψ is positive value.
Ψ, θ, φ describe the rotation posture in underwater glider space, and three meets right hand corkscrew rule.
There are following transformational relations between three coordinate systems:
1. earth axes SEWith body coordinate system SBBetween for example following equation (1) of transformational relation shown in:
2. the transformational relation of the relationship between velocity coordinate system and body coordinate system
The posture of aircraft fluid relative medium during navigation can be described with the angle of attack and yaw angle.The wherein angle of attack
α is route speed vector V in the projection in the Bxy plane of body coordinate system and the angle between axis Bx, when velocity vector V is biased to
When aircraft lower head, α is positive value.Angle of the yaw angle β between route speed vector V and body coordinate system Bxy plane,
If speed V is biased to aircraft right side of head, β is positive value.
Position transformational relation between body coordinate system and velocity coordinate system is determined by angle of attack and yaw angle β, in
It is that the transformation matrix of coordinates between Two coordinate system is as follows:
Three, aerodone kinematical equation
There are six freedom degrees in spatial movement for aerodone, including three translational motions (advance and retreat, sidesway, snorkeling) and three
A rotation (roll, pitching, yaw) is defined each variable of aerodone according to coordinate system above.
Centre of buoyancy is (X, Y, Z) in the position coordinates of earth axes, and centre of buoyancy velocity vector isCentre of buoyancy
Coordinate of the velocity vector at place under body coordinate system is (u, v, w).By the body coordinate system and earth axes provided above
Transformational relation can obtain:
It further spreads out
Above formula is integrated, the underwater motion profile of aerodone can be obtained.
Underwater glider force analysis:
When aerodone navigates by water under water, the power being subject to includes gravity, buoyancy, hydrodynamic force, and hydrodynamic force includes that inertia fluid is dynamic
Power, viscous fluid power, further include ocean currents, and the emphasis of the invention about aerodone pose adjustment is to receive ocean currents
Enter force analysis, influence of the fluid to aircraft is discussed.
Fh(V, Ω, V ', Ω ')=f (u, v, w, p, q, r)+g (u ', v ', w ', p ', q ', r ')+h (u ', v ', w ', p ',
q’,r’) (6)
Wherein, Fh(V, Ω, V ', Ω ') is hydrodynamic force, and f (u, v, w, p, q, r) is viscous fluid power, g (u ', v ', w ',
P ', q ', r ') it is inertia fluid dynamic, h (u ', v ', w ', p ', q ', r ') it is ocean currents power.
The ocean currents power h (u ', v ', w ', p ', q ', r ') of the present embodiment is obtained by analog simulation method.Known mesh
Cursor position can determine ocean currents power herein, when carrying out underwater glider force analysis directly by the ocean of analog simulation
Stream influence power is included in.
The coordinate system and the equation of motion established before above-mentioned equation (6) is brought into, obtain aerodone kinematical equation.
Four, dynamic numerical simulation
Kinetics equation is solved using the mathematical model of aircraft, mathematical model is broadly divided into four classes, and one kind is aircraft
Physical parameter (such as quality, length) one kind be aircraft motion state (linear velocity V, angular velocity vector Ω) one kind be hydrodynamic force ginseng
Number (flow velocity of ocean current, fluid density etc.) one kind is control parameter.The present invention can be using the mathematical model of the prior art to power
It learns equation to be solved, details are not described herein again.
Generally aerodone state is simulated using softwares such as Gambit Fluent in practice.It should be noted that
When posture calculates in course line and water to aerodone, the relevant information of ocean current is calculated by ocean simulation device.
Ocean current information is brought into entire simulation model as state variable, can more accurately navigation of the simulated voyage device in corresponding sea area
State.Change the effectively adjustment underwater posture of aerodone to navigation correction in time, while according to ocean current, to reach energy-efficient purpose.
In conclusion being navigated by establishing autonomous Underwater Vehicle Navigation System of the invention to underwater glider, glide
Machine floats every time can get new routing plan, and the control program for needing to complete when dive next time, including aerodone appearance
State adjustment programme, aerodone again dive when, on the one hand combine oceanographic data acquisition application demand, executed according to navigation information
Aerodone can be sent to the target position sea area for needing most acquisition data by navigation system, be counted by corresponding navigation route
According to acquisition, reach the information collection to oceanographic data blind spot；On the other hand, the navigation appearance according to predetermined action adjustment in water
State executes corresponding navigation movement, not only can achieve the effect for saving power consumption, but also ocean current can be effectively reduced to aerodone
The influence in course line, timely correction avoid aerodone standoff.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, the art
Those of ordinary skill, within the essential scope of the present invention, the variations, modifications, additions or substitutions made all should belong to the present invention
Protection scope.
Claims (9)
1. a kind of autonomous Underwater Vehicle Navigation System, it is characterised in that: including ocean Internet of Things perception system, ocean simulation device, boat
Lane controller and underwater glider；
The ocean Internet of Things perceives system, is transmitted to ocean for collecting marine physics and chemical information, and by oceanographic data
Simulator；
Oneself state information and location information are transmitted to flight course control device, and receive flight course control device by the underwater glider
The control instruction information of transmission；
The ocean simulation device is the mainframe computer cluster based on supercomputer, based on the received oceanographic data mould
Quasi- sea state simultaneously stores, and the data of underwater glider can also be obtained by flight course control device, and ocean simulation device counts simulation
Obtained ocean current information is sent to flight course control device；
The flight course control device, the location information of underwater glider and ocean current information, obtain position locating for aerodone based on the received
The ocean current situation set, output underwater glider pose adjustment program to underwater glider；And plan aerodone navigation route, transmission
To underwater glider.
2. autonomous Underwater Vehicle Navigation System according to claim 1, it is characterised in that: the ocean Internet of Things perceives system
Sea area, buoy, subsurface buoy, scientific investigation ship and sea equipped with the sensor for acquiring marine physics and chemical information are placed on including cloth
Foreign remote sensing satellite further includes the cloud storage end for storing oceanographic data.
3. autonomous Underwater Vehicle Navigation System according to claim 2, it is characterised in that: the ocean simulation device further includes sea
Foreign Real time data acquisition module, data processing module, memory module, data transmission module, massive real-time data obtain module and obtain
The oceanographic data for taking the cloud storage end storage of ocean Internet of Things perception system, passes through data processing module analog simulation ocean shape
State is stored in memory module, and is transmitted to flight course control device.
4. autonomous Underwater Vehicle Navigation System according to claim 3, it is characterised in that: the underwater glider is equipped with communication
Module and navigation module, are additionally provided with attitude regulation unit, and attitude regulation unit includes that roll attitude adjusts unit and pitch attitude
Adjust unit；Navigation module receives the underwater glider pose adjustment program and navigation that flight course control device is sent by communication module
Route, and it is transmitted to attitude regulation unit.
5. autonomous Underwater Vehicle Navigation System according to claim 1, it is characterised in that: the underwater glider and course line are controlled
It is communicated to connect between device processed by satellite communication system.
6. a kind of submarine navigation device air navigation aid, which is characterized in that utilize autonomous Underwater Vehicle Navigation System as claimed in claim 4
It carries out, comprising the following steps:
(1) it builds ocean Internet of Things perception system: laying buoy, subsurface buoy, scientific investigation ship and ocean remote sensing satellite on sea area, and
Sensor is installed in each equipment, acquires oceanographic data in real time, is stored in cloud storage end；
(2) sea state analog simulation: by ocean simulation device analog simulation sea state, including but not limited to ocean current information,
Weather conditions, wind field, and the ocean current information that analog simulation calculates is sent to flight course control device；
(3) it flight course planning: according to the sea situation information in known sea area and the location information of underwater glider, determines to need most at present and adopt
The sea area for collecting data, the location information in target sea area is included in route design, aerodone navigation route is planned again, so that water
The oceanographic data that lower aerodone is collected into more meets the needs of entire oceanographic observation system；
(4) underwater glider posture dynamic adjusts: according to the location information of underwater glider and ocean current information, being calculated underwater
The ocean current information of aerodone present position；Ocean currents are included in aerodone pose adjustment algorithm, determine aerodone pose adjustment
Program, is sent to underwater glider, and dynamic adjusts the posture of underwater glider.
7. submarine navigation device air navigation aid according to claim 6, it is characterised in that: in step (2), ocean simulation device is logical
Acquisition oceanographic data is crossed, ocean large database concept is established；Based on the computing capability of supercomputer cluster, pass through the side of analog simulation
Method is simulated and is predicted to sea state, and analogue simulation is obtained ocean current information and is transmitted to flight course control device；It simultaneously can be real-time
The data of underwater glider are obtained from flight course control device.
8. submarine navigation device air navigation aid according to claim 7, it is characterised in that: in step (3), flight course control device is obtained
The location information of underwater glider is taken, and the sea situation information obtained according to ocean Internet of Things perception system has been passed through, judgement are worked as
The preceding data blind spot for still lacking marine information determines the target position for needing to acquire marine information, course line is planned again, so that water
Lower aerodone navigation carries out the acquisition of information to the target position for needing to acquire marine information, reaches the letter to oceanographic data blind spot
Breath acquisition.
9. submarine navigation device air navigation aid according to claim 8, it is characterised in that: in step (4), according to aerodone appearance
State adjustment algorithm and ocean current situation calculate and optimize pose adjustment program, and be transmitted to underwater cunning by satellite communication system
Xiang machine；Underwater glider adjusts the posture of underwater glider by attitude regulation unit dynamic, reduces power consumption.
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