Remote state tracking and control method and system for AUV platform

Abstract

The invention provides a remote state tracking and control method and a system for an AUV platform. The system is composed of an underwater acoustic communication MODEM-A, a communication MODEM-B, an ultra short baseline array, a satellite communication module and a display control platform. The method uses underwater acoustic communication range finding and ultra short baseline direction finding functions in a joint mode and the AUV updates the position information in real time during an operation process. During an underwater navigation process of the AUV, the AUV-end communication MODEM-A is started to transmit a positioning signal, the underwater base station-end ultra short baseline array receives the positioning signal, measurement on a horizontal angle and an elevation angle is completed, and the direction finding result is sent to the AUV end via the underwater base station-end underwater acoustic communication MODEM-B. Due to the design method of arranging the ultra short baseline array at the underwater base station end, the mounting load of the AUV platform end is reduced, and the AUV end signal processing complexity is reduced.

Description

technical field [0001] The invention belongs to the field of underwater acoustic technology and communication technology, and mainly relates to a remote state tracking and control method and system for an AUV platform. Background technique [0002] With the development of various underwater measurement sensor technologies and underwater autonomous vehicle technology, the AUV platform can carry sensor equipment, multi-beam sonar equipment, and side-scan sonar equipment to realize hydrological environmental information measurement, terrain survey, data records etc. The 715 Research Institute has carried out the research work on the underwater connection technology of the AUV platform, which can realize the underwater charging and data interaction of the AUV platform, which lays the foundation for the AUV platform to perform tasks underwater for a long time. Usually, the state tracking and control of the AUV platform during underwater operation is realized through the underwat...

AI Technical Summary

Problems solved by technology

Usually, the state tracking and control of the AUV platform during underwater operation is realized through the underwater acoustic communication MODEM. The AUV-side communication sonar transmits the AUV platform-side inertial navigation data to the ship-based platform, and the ship-based communication sonar performs decoding to realize the status. Tracking, however, due to the complexity of the ocean environment, when the AUV platform sails underwater for a long time, the inertial navigation data deviates seriously, and it cannot accurately track the underwater motion state of the AUV platform

In addition, when using underwater acoustic communication to track the state of AUV, it is necessary to repeatedly retract and release the ship-based communication sonar through the ship, and the cost is relatively high.

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