Underwater acoustic two-way distance-measuring error compensation method applied in dynamic condition of multi-AUV coordinative navigation

Abstract

The invention discloses an underwater acoustic two-way distance-measuring error compensation method applied in the dynamic condition of a multi-AUV coordinative navigation system. According to the method, at the moment t0, an AUV (a) sends a ranging request command to an AUV (b). At this time, the distance between the AUV (a) and the AUV (b) is a0b0. At the moment t1, the AUV (b) receives the ranging request command sent from the AUV (a). At this time, the propagation distance of an underwater signal is a0b1. After the fixed delay of tau seconds, the AUV (b) sends a reply response signal to the AUV (a) at the moment t2. At this time, the distance between the AUV (b) and the AUV (a) is a2b2. At the moment t3, the AUV (a) receives the reply response signal sent by the AUV (b) and then calculates the underwater acoustic propagation distance according to the round-trip propagation time of the underwater signal. The AUV (a) sends the measured underwater acoustic distance together with its own location information and the speed information thereof in the west, in the north and in the skyward direction to the AUV (b). The AUV (b) receives the information sent by the AUV (a) and then calculates the error of the underwater acoustic distance. Meanwhile, the AUV (b) compensates the underwater acoustic propagation distance based on the error. The method is high in measurement precision and good in cooperative navigation effect.

Description

technical field [0001] The invention belongs to the field of error compensation, and in particular relates to an underwater acoustic two-way ranging error compensation method under dynamic conditions suitable for multi-AUV cooperative navigation. 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 navigation req...

AI Technical Summary

Problems solved by technology

Since the one-time communication of two-way ranging can only realize one-to-one distance measurement, for a multi-AUV system, it will inevitably reduce the update frequency of each AUV, and the energy consumption demand of the underwater acoustic communication system will increase, which will affect the performance of the AUV system. Co-location accuracy and long-duration capability

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