Uuv active bottoming method assisted by buoyancy equalization device

Abstract

The invention relates to the field of UUV control, in particular to a UUV active bottom sitting method assisted by a buoyancy balancing device. The UUV active bottom sitting method aims at overcoming the height measuring sonar blind area and the propeller near wall effect and keeping a silent state when a UUV sits on the bottom. The UUV active bottom sitting method assisted by the buoyancy balancing device is used for establishing a task module of a navigating device, utilizing a measuring unit and a prior knowledge base, and selecting proper time to switch an auxiliary propeller and the buoyancy balancing device to complete active bottom sitting and keeping the silent state when the navigating device executes an active bottom sitting task. According to the method, the intellectuality of the UUV is increased, the defect that due to the fact that a dead zone exists when height measuring sonar measures height, height measurement fails is effectively overcome by switching the auxiliary propeller and the buoyancy balancing device, the active bottom sitting precision is kept, and meanwhile the hidden work condition of silent bottom sitting is met. The UUV active bottom sitting method is suitable for UUV active bottom sitting occasions.

Description

technical field [0001] The invention relates to the field of UUV control, in particular to a UUV active bottoming method assisted by a buoyancy equalization device. Background technique [0002] Unmanned Underwater Vehicle (UUV) is widely used in marine resource development and environmental exploration. It can operate and perform tasks in specific sea areas, and plays an irreplaceable role in commercial, scientific, military and other fields. For example, oil and gas pipeline maintenance, seabed topographic mapping, latent attacks, etc., its application prospects are extremely broad. In some special tasks, the UUV is required to lurk in a designated area and remain silent for a long time. Therefore, the UUV must have the function of actively sitting on the bottom and keeping silent. However, the underwater operation environment is special, and it faces the following difficulties: [0003] (1) After the UUV dives, it relies on underwater acoustic communication to transmit ...

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Problems solved by technology

[0004] (2) The marine environment is complex, and the altimetry sonar is susceptible to interference from noise and UUV attitude changes when collecting signals, which will cause data fluctuations measured by the altimetry sonar, and there are measurement blind spots in the altimetry sonar;

This method can quickly complete the task of sitting on the bottom, but the bow and stern vertical auxiliary thrusters cannot be turned off during the process of keeping the bottom sitting state, so the energy consumption is large and the silent state cannot be achieved; in addition, when the UUV is close to the seabed, due to the near-wall effect , the water absorption of the bow and stern vertical auxiliary thrusters is reduced, resulting in a decrease in propulsion efficiency

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