UUV (unmanned underwater vehicle) coast patrol contour construction method based on wavelet cluster

A construction method and clustering technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve the problems of weak observation of sonar data, poor accuracy and low reliability of sonar data, and improve clustering. Accuracy, accurate effect of clustering algorithm

Active Publication Date: 2017-10-24
HARBIN ENG UNIV
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Problems solved by technology

However, during UUV navigation, limited by sonar's own characteristics and environmental interference, sonar data has the characteristics of poor accuracy and low reliability, resulting in weak observation characteristics of sonar data. How can UUV fully observe Environment, key to SDAP issue

Method used

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  • UUV (unmanned underwater vehicle) coast patrol contour construction method based on wavelet cluster
  • UUV (unmanned underwater vehicle) coast patrol contour construction method based on wavelet cluster
  • UUV (unmanned underwater vehicle) coast patrol contour construction method based on wavelet cluster

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Embodiment Construction

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0046] The invention proposes a method for constructing a UUV shore patrol profile based on wavelet clustering. The algorithm flow of the main body is as follows figure 1 As shown, it specifically includes the following steps. (1) Establish an environmental model based on the port satellite image, and establish a UUV path tracking model.

[0047] (2) Plan the UUV path according to the environmental model, design the UUV path tracking controller to track this path, and make a straight line through the UUV position point to simulate the sonar sound wave. The sound wave acts on the environmental contour, and the obtained data point set is used as input.

[0048] (3) Apply the global clustering decision globally. UUV makes a global clustering decision for each beat in the process of tracking the path. The global clustering decision inc...

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Abstract

The invention provides a UUV (unmanned underwater vehicle) coast patrol contour construction method based on wavelet cluster, and discloses an improved contour construction method based on wavelet cluster to solve environmental contour construction problems in unknown environment detection and synchronous coast patrol control of a UUV. Original barrier point data are subjected to local wavelet cluster, an isolated point alternative set R and a set Ci of all categories of the UUV in a vision field at a current position are given, isolated points and category data are processed by a series of cluster strategies made by global cluster decision, the isolated points are removed to obtain a barrier point set of a coast contour, and a specific contour is obtained by the barrier point set and an Alpha-Shapes method. Barrier points are acquired and noise data are added in the UUV coast patrol simulation process to serve as original data for simulation, the coast contour is rapidly and accurately given by an algorithm, and the effectiveness and feasibility of the algorithm are proved.

Description

technical field [0001] The invention relates to a method for constructing a UUV shore patrol profile based on wavelet clustering, and belongs to the field of UUV unknown environment detection. Background technique [0002] Unknown environment detection and synchronous patrol control problem (Simultaneous Detection and Patrolling, SDAP) is an important application in UUV detection of unknown environment. control. Since sonar data is the only basis for UUV's autonomous decision-making, its accuracy has a direct impact on UUV's navigation safety and mission execution results. However, during UUV navigation, limited by sonar's own characteristics and environmental interference, sonar data has the characteristics of poor accuracy and low reliability, resulting in weak observation characteristics of sonar data. How can UUV fully observe The environment becomes the crux of the SDAP problem. Two schemes can be used to detect outliers: classify outliers and normal data or perform ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 严浙平李航宋金雪
Owner HARBIN ENG UNIV
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