Multiple AUV cooperative positioning method based on underwater sound double pass range finding

A technology of co-location and underwater acoustics, which is applied in the directions of positioning, measurement devices, underwater ships, etc., and can solve the problems of affecting the co-location effect, large time delay of underwater acoustic communication, and reducing the frequency of AUV collaborative update.

Active Publication Date: 2016-02-10
HARBIN ENG UNIV
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Problems solved by technology

Due to the large time delay of underwater acoustic communication, it takes at least 10 seconds to complete a ranging + communication process. Therefore, for multiple AUV co-location systems, the co-update frequency of each AUV is greatly reduced, which affects the co-location effect.

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  • Multiple AUV cooperative positioning method based on underwater sound double pass range finding
  • Multiple AUV cooperative positioning method based on underwater sound double pass range finding
  • Multiple AUV cooperative positioning method based on underwater sound double pass range finding

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Embodiment Construction

[0046] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0047] (1) The problem to be solved by the present invention is: aiming at the practical problems existing in the existing two-way ranging technology in the application of AUV cooperative positioning, the present invention provides a simple to implement, high positioning accuracy, low energy consumption, suitable for multiple AUV The collaborative positioning scheme based on the underwater acoustic two-way ranging network can better meet the task requirements of underwater multi-AUV long-term cooperative work.

[0048] (2) Technical solution: In order to solve the above problems, the present invention proposes a new underwater multi-AUV cooperative positioning scheme based on underwater acoustic two-way ranging, and its process is:

[0049] Step 1: Set the time synchronization of each AUV system, mainly for the needs of subsequent algorithms, and the time syn...

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Abstract

The invention discloses a multiple AUV cooperative positioning method based on underwater sound double pass range finding, comprising: synchronizing time of all AUV systems; determining the priority of each AUV system, and setting corresponding range finding response delay time according to levels of priorities; when not receiving the underwater sound information of a main AUV, a slave AUV performing dead reckoning according to the measurement information of a self sensor; the slave AUV receiving the underwater sound information of the main AUV, decoding the position information, speed information and time information of information sending time of the main AUV, and then performing range finding on the main AUV; when measuring the distance information between the main AUV and the slave AUV, the slave AUV recording a current time t (n), and reckoning the main AUV position information xc (n) at the current time; and performing cooperative positioning according to the distance information between the main AUV and the slave AUV, and the main AUV position information xc (n), and correcting a self dead reckoning error through the information fusion technology. The multiple AUV cooperative positioning method has the advantages of simple realization, high positioning precision, and small energy consumption.

Description

technical field [0001] The invention belongs to the field of AUV positioning, and in particular relates to a multi-AUV cooperative positioning method based on underwater acoustic two-way ranging for long-term cooperative work of underwater multiple AUVs. Background technique [0002] High-precision underwater navigation is the key to AUV's mission. Due to the particularity of the water medium, underwater AUV cannot effectively obtain GPS navigation information. Therefore, underwater navigation technology has always been the focus of AUV research. Inertial Navigation System (INS) has become an indispensable navigation device for underwater AUVs due to its independent working characteristics and comprehensive navigation information, and plays a pivotal role in the field of underwater navigation. However, due to the influence of the error drift of the gyro sensitive device, the error of the INS has the characteristics of accumulating over time, which directly affects the naviga...

Claims

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Application Information

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IPC IPC(8): G01S5/18
CPCG01S5/18B63B2211/02B63G2008/004
Inventor 徐博段腾辉陈铭王超但剑辉王星郝芮
Owner HARBIN ENG UNIV
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