Water surface automatic tracking and monitoring system for underwater vehicle

Abstract

The invention discloses a water surface automatic tracking and monitoring system for an underwater vehicle. The water surface automatic tracking and monitoring system comprises a shore-based display and control center, a wireless network communication system, an unmanned ship tracking platform and an underwater acoustic positioning system, wherein the shore-based display and control center performs two-way communication with an unmanned ship platform through a wireless network; an unmanned ship obtains a relative position of the autonomous underwater vehicle through the ultra-short base line underwater acoustic positioning system, and the autonomous underwater vehicle is tracked by operating a controller; meanwhile, status information of the underwater vehicle is transmitted to the shore-based display and control center, and further tracking type monitoring of the autonomous underwater vehicle is realized. According to the water surface automatic tracking and monitoring system disclosed by the invention, positioning and tracking control of the unmanned ship to the underwater vehicle are realized by combined use of wireless network communication, the ultra-short base line positioning system and a satellite positioning system, and tracking data are transmitted to workers on a shore, so that high-precision real-time tracking and on-shore remote monitoring of the underwater vehicleare realized.

Description

technical field [0001] The invention relates to the technical field of automatic water surface tracking of underwater vehicles, in particular to an automatic water surface tracking and monitoring system for underwater vehicles. Background technique [0002] As a high-tech tool for ocean development, autonomous underwater vehicles can rely on their own energy to complete various missions assigned to them. They have the characteristics of wide range of activities, small size, light weight, low noise, and good concealment. Both military and civilian fields have broad application prospects. [0003] Underwater is a complex working environment. When an autonomous underwater vehicle performs underwater operations, its own environmental perception capabilities and external monitoring capabilities are greatly insufficient compared with land and space robots. Limited by the water body, the electromagnetic wave attenuates quickly in the underwater environment; if the visual sensor is...

AI Technical Summary

Problems solved by technology

[0003] Underwater is a complex working environment. When an autonomous underwater vehicle performs underwater operations, its own environmental perception capabilities and external monitoring capabilities are greatly insufficient compared with land and space robots.

Limited by the water body, the electromagnetic wave attenuates quickly in the underwater environment; if the visual sensor is used, the visual image can only be obtained in a short distance, and often cannot work due to the turbidity of the water body; the laser sensor can measure a range of 100m, and The measurement of distance and azimuth is very accurate, but it is expensive and limited by the measurement distance; dead reckoning navigation is based on the change of ship speed to perform integral calculation of position, the error is large, and accumulates with time; therefore, the position measurement of underwater vehicles and communication is best done with underwater acoustic technology

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