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A kind of autonomous bottom-finding control method for Auv

A control method and bottom-seeking technology, applied in three-dimensional position/channel control and other directions, can solve problems such as the lack of effective guarantee of safety and reliability, the limited range of ranging sonar, and the failure of carrier bottom-seeking tasks, etc. To achieve the effect of high reliability, easy implementation and simple process

Active Publication Date: 2017-04-05
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

Because the error of the depth gauge increases with the increase of the depth, there is a certain deviation between the predetermined load dump depth and the actual load dump depth. At the same time, the ranging sonar has a limited working distance in the actual work process and is prone to false alarms. It may cause the carrier to drop near the seabed or away from the seabed. The former is quite dangerous for the carrier, and the latter will cause the carrier to find the bottom of the mission.
Therefore, the safety and reliability of the traditional bottom-finding method cannot be effectively guaranteed.

Method used

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  • A kind of autonomous bottom-finding control method for Auv
  • A kind of autonomous bottom-finding control method for Auv
  • A kind of autonomous bottom-finding control method for Auv

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Embodiment Construction

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0038] The present invention mainly aims at the autonomous bottom-finding control of the AUV from unpowered diving, powered diving to fixed-altitude navigation operation, as shown in the attached figure 1 shown. The control computer and sensors used in the AUV bottom-finding process are as attached figure 2 As shown, it is mainly composed of automatic driving computer, attitude sensor (TCM5), Doppler sensor (DVL), acceleration sensor, depth sensor and dumping device.

[0039] The AUV is equipped with an automatic driving computer for real-time monitoring of AUV system attitude, vertical speed, depth, height and other state information, estimating the AUV's own position, controlling and scheduling the AUV's diving work process; the AUV is equipped with an attitude sensor (TCM5), It is used to periodically measure the attitude data of the sys...

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Abstract

The invention discloses an autonomous underwater vehicle (AUV) autonomous bottom search control method which is suitable for the bottom search control during a diving process of an AUV. By the control method disclosed by the invention, the diving process of a vehicle is divided into power-free diving and powered diving; through the data fusion of a plurality of sensors, the vehicle reaches to a predetermined height safely and performs detection operation smoothly. The AUV autonomous bottom search control method disclosed by the invention is simple in operation, safe and practical; a bottom search task during the diving process of the AUV can be effectively realized; and the reliability of the practical use of an AUV system is improved.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to an AUV autonomous bottom-finding control method. Background technique [0002] When an AUV performs tasks underwater, it generally goes through three main working stages: diving, seabed navigation operations, and unloading and floating. The present invention is mainly aimed at the diving process of the AUV. Normally, the AUV dives from the sea surface at an inclination angle of 45° to 50° without power. When it reaches a certain depth, it depends on the parameters obtained by the ranging sonar to determine whether it has reached the predetermined height. If it arrives, it will drop the submerged weight. , and operate in the fixed-altitude mode. Because the error of the depth gauge increases with the increase of the depth, there is a certain deviation between the predetermined load dump depth and the actual load dump depth. At the same time, the ranging sonar has a limi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 刘铁军王飞刘健
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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