Master-slave mode multi-UUV (Unmanned Underwater Vehicle) cooperative location method based on underwater acoustic communication delay

A technology for underwater acoustic communication and co-location, which can be used in positioning, underwater ships, ships, etc., and can solve problems such as large positioning errors.

Inactive Publication Date: 2013-10-02
HARBIN ENG UNIV
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Problems solved by technology

[0003] The present invention aims to solve the problem of large positioning errors in the existing master-slave multi-UUV cooperative positioning system, thereby providing a master-slave multi-UUV cooperative positioning method based on underwater acoustic communication delay

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  • Master-slave mode multi-UUV (Unmanned Underwater Vehicle) cooperative location method based on underwater acoustic communication delay
  • Master-slave mode multi-UUV (Unmanned Underwater Vehicle) cooperative location method based on underwater acoustic communication delay
  • Master-slave mode multi-UUV (Unmanned Underwater Vehicle) cooperative location method based on underwater acoustic communication delay

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specific Embodiment approach 1

[0068] Specific implementation mode 1. Combination figure 1 Illustrate this specific embodiment, a kind of master-slave multi-UUV cooperative positioning method based on underwater acoustic communication delay, its feature comprises the following steps:

[0069] Step 1. The master and slave UUVs prepare for clock synchronization, and the master UUV measures the distance between the master and slave UUVs through underwater acoustic ranging;

[0070] Step 2, the master UUV sends its own positioning information, distance information and timestamp of information sending time to the slave UUV through the underwater acoustic equipment;

[0071] Step 3: After receiving the main UUV underwater acoustic information from the UUV, use the computer clock to calculate the delay time of this underwater acoustic communication, collect its own aerial reckoning positioning information, and establish the state equation of the cooperative positioning system;

[0072] Step 4. Calculate the syste...

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Abstract

The invention discloses a master-slave mode multi-UUV cooperative location method based on underwater acoustic communication delay, and relates to a cooperative location method. The method solves the problem of big location errors of a conventional master-slave mode multi-UUV cooperative location system, and comprises the following steps: the master and slave UUVs perform clock synchronization preparation, the master UUV measures the distance between the master UUV and the slave UUV through underwater acoustic ranging; the master UUV sends location information, spacing information and the time stamp during sending information all of the master UUV to the slave UUV through underwater acoustic equipment; delay duration of the underwater acoustic communication is calculated after the slave UUV receives the underwater acoustic of the master UUV, and the state equation of the cooperative location system is built; the slave UUV utilizes the state of the system to transfer the matrix, and the measurement equation of the cooperative location system is built; measurement update of the cooperative location system is completed through utilizing the measurement equation of the system; the state update of the cooperative location system is completed through utilizing the state equation of the system; the slave UUV compensates the state estimation errors. The method is suitable for the master-slave mode multi-UUV cooperative location.

Description

technical field [0001] The invention relates to a coordinated positioning method, in particular to a master-slave multi-UUV coordinated positioning method. Background technique [0002] Multi-UUV (Unmanned Underwater Vehicle, unmanned underwater vehicle) cooperative system plays an important role in ocean exploration and development, military operations, etc. Positioning technology is the prerequisite and key technology for collaborative operations. However, due to the complex underwater environment and the limitations of the volume and quality of UUV itself, it is currently difficult to achieve multi-UUV positioning. Multi-UUV cooperative positioning means that a small number of UUVs (main UUV) equipped with high-precision navigation equipment can complete autonomous positioning during the operation process of multiple UUVs, and provide accurate relative positioning information for other UUVs (slave UUVs). Positioning information corrects its own low-cost and low-precisio...

Claims

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Application Information

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IPC IPC(8): G01S5/18
CPCB63B2211/02B63G2008/004
Inventor 高伟杨建刘菊杨羡徐博郑启辉黄文军史宏洋池姗姗王文佳
Owner HARBIN ENG UNIV
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