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Remote autonomous underwater vehicle multi-load coverage method

An underwater vehicle and multi-payload technology, which is applied in the directions of instruments, navigation, surveying and navigation, etc., can solve the problems of resource waste efficiency, lack of information exchange and communication, and decline, so as to increase the load coverage area and improve work efficiency Effect

Inactive Publication Date: 2015-04-08
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the independent navigation of the aircraft, there is a lack of information exchange and communication with each other, and each goes its own way, which may easily cause overlap or omission of the load deployment range, and it is difficult to achieve effective coverage of the operation area, resulting in a waste of resources and a decrease in efficiency.

Method used

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  • Remote autonomous underwater vehicle multi-load coverage method
  • Remote autonomous underwater vehicle multi-load coverage method
  • Remote autonomous underwater vehicle multi-load coverage method

Examples

Experimental program
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specific Embodiment approach

[0037] The specific implementation steps are as follows:

[0038] (1) The launching boat launches 7 underwater vehicles at the same time outside the operation area, and the hydrophone does not turn on, and only realizes its own stable operation through the control phase and the direct flight phase.

[0039] (2) The inertial navigation system and the hydrophone system are powered on to obtain the location and speed information of the surrounding neighbors.

[0040] (3) Under a given formation structure parameter L (for example, L=50m), execute the formation navigation control algorithm (2), so that multiple launched underwater vehicles gather into a stable formation.

[0041] (4) During navigation, update navigation information in real time, determine new waypoints, and sail towards the target sea area.

[0042] (5) After arriving at the target sea area, increase the distance structure parameter L according to the water area of ​​the operation and the effective coverage of the...

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Abstract

The invention relates to a remote autonomous underwater vehicle multi-load coverage method. The method comprises the following steps: establishing a navigation coordinate system according to the output of a gyroscope, and resolving the speed and position of an underwater vehicle in the navigation coordinate system according to the output of an accelerometer. A hydrophone refers to a transducer which converts an underwater acoustic signal into an electric signal, and deep and shallow positioning can be rapidly performed by virtue of computer processing and operating by utilizing the same signal received at different positions. Compared with the traditional independent underwater vehicle load layout method, the collaborative coverage method disclosed by the invention can realize the optimized load distribution, and the load coverage area is enlarged. Therefore, the working efficiency of the load is effectively improved.

Description

technical field [0001] The invention belongs to the field of underwater vehicles, and in particular relates to a multi-load covering method for a remote autonomous underwater vehicle. Background technique [0002] Autonomous underwater vehicles are an effective tool for humans to develop and utilize the ocean. As the main means of underwater transportation, they are more and more widely used in scientific research, military, industry and other fields. In order to complete various tasks, underwater vehicles usually need to carry multiple loads (such as sonar, beacons, sensors, etc.), and separate and deploy the loads in designated waters through long-distance navigation, so that the loads can operate in this area. [0003] With the increasing complexity of operating tasks and the expansion of the operating sea area, it is often difficult for a single load to complete the assigned task, so multiple loads are required to effectively cover the target area. Limited by the carryi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/165
Inventor 刘明雍杨盼盼雷小康李红刘坤李洋张小件
Owner NORTHWESTERN POLYTECHNICAL UNIV