Multi-underwater unmanned aircraft polar region cooperative navigation method taking underwater acoustic communication delay into consideration

Abstract

The invention provides a multi-underwater unmanned aircraft polar region cooperative navigation method taking underwater acoustic communication delay into consideration. The method comprises the following steps: 1, performing accurate time synchronization on a master underwater unmanned aircraft and a slave underwater unmanned aircraft; 2, determining the accurate navigation information of the master underwater unmanned aircraft in its polar region; 3, determining the rough navigation information of the slave underwater unmanned aircraft in its polar region; 4, determining azimuth and distanceinformation between the master underwater unmanned aircraft and the slave underwater unmanned aircraft through using an ultra-short baseline system by the master underwater unmanned aircraft; 5, transmitting information to the slave underwater unmanned aircraft by the master underwater unmanned aircraft; 6, obtaining the accurate navigation information of the slave underwater unmanned aircraft; 7, judging that whether the current filtering frequency is greater than or equal to the total filtering frequency or not; 8, jumping to step 3 and repeating following steps if not; and 9, ending the method if so. The method in invention can effectively realize the multi-underwater unmanned aircraft polar region cooperative navigation taking underwater acoustic communication delay into consideration, and has a better precision than a multi-underwater unmanned aircraft polar region cooperative navigation method not taking underwater acoustic communication delay into consideration.

Description

technical field [0001] The invention relates to a multi-underwater unmanned vehicle polar area cooperative navigation method that considers underwater acoustic communication delay, and is suitable for the situation that underwater acoustic communication delay exists in the process of multi-underwater unmanned vehicle navigation in polar areas. A cooperative navigation method belongs to the field of multi-underwater unmanned vehicle cooperative navigation methods. Background technique [0002] As an important equipment for ocean development, underwater unmanned vehicles have been greatly developed in recent years. Underwater unmanned vehicles can complete important tasks such as ocean surveys and search for crashed planes. The development of underwater unmanned vehicles in the future will surely follow two important trends, one is to sail towards farther and deeper seas, and the other is to develop towards the goal of being more intelligent and completing more complex tasks....

AI Technical Summary

Problems solved by technology

However, when these methods are applied in polar regions, they suffer from the rapid convergence of meridians

Therefore, it is only applicable in non-polar regions

At the same time, the filtering algorithm is based on the standard Kalman filtering algorithm, and the standard Kalman filtering algorithm is only suitable for dynamic linear system models

Compared with the hot development of multi-UAV cooperative navigation in non-polar regions, multi-UUV cooperative navigation in polar regions is in its infancy, and there is no research involving multi-UUV cooperative navigation article

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