Autonomous underwater vehicle (AUV) automatic localization method

Abstract

The invention relates to an autonomous underwater vehicle (AUV) automatic localization method. The autonomous underwater vehicle (AUV) automatic localization method includes the following steps that firstly, a target position of each AUV which automatically moves to work at the target position is set; secondly, localization accuracy decreases gradually due to affection caused by contrast error of a tracking instrument and water flow after the AUV is submerged; thirdly, each AUV periodically broadcasts coordinate information and coordinate accuracy lambda to the surroundings; and fourthly, each AUV computes localization accuracy in real time and can update coordinates whenever the coordinate accuracy lambda of the AUV is lower than limit value, or coordinate accuracy of at least three adjacent nodes is higher than the AUV. Without adopting conventional water surface or underwater localization anchor buoy, underwater staying work time of the AUVs can be prolonged, and further, the AUVs are distributed without central control and are free of limit of numbers, and no limit is set on the network topological structure, coordinates and accuracy information can be carried on normal communication information, communication quantity is favorably reduced, the technology is mature and operation load is low.

Description

technical field [0001] The invention relates to an underwater autonomous vehicle (AUV) positioning method, which belongs to the field of underwater wireless networks. The invention is also applicable to underwater wireless sensor nodes. Background technique [0002] Electromagnetic wave signals cannot penetrate water bodies, so positioning signals such as GPS cannot provide positioning information for AUVs. At the same time, AUV is mainly a single application or a limited number of applications, and co-location is not the focus of its research. Its main positioning technology is to adopt remote sound wave positioning control technology similar to "remote control", such as LBL (long baseline), SBL (short baseline) and USBL (ultra short baseline) and other sound-activated positioning technologies. In addition, surface buoy (buoy) and underwater anchor (anchor) positioning technologies have also appeared for reference from GPS positioning technology. However, these technolog...

AI Technical Summary

Problems solved by technology

For example, the voice control method has a distance limit, and when there is an obstruction between the voice control device and the AUV, the acoustic signal cannot be transmitted

However, buoys and anchors must be placed in the planned work area in advance. When they exist for a long time, it is easy to expose the target, which is not conducive to hiding, and its energy replenishment is also a big challenge.

However, in some applications of AUV, its working area cannot be known in advance, and it is impossible to set up positioning reference points in advance.

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