A Cooperative Navigation Method for Multiple Underwater Unmanned Vehicles in Polar Regions Considering Underwater Acoustic Communication Delay

Abstract

The present invention provides a multi-underwater unmanned vehicle polar area cooperative navigation method considering the underwater acoustic communication delay, including: the master underwater unmanned vehicle and the slave underwater unmanned vehicle carry out precise time synchronization; the master underwater unmanned vehicle The unmanned vehicle determines its precise navigation information in the polar region; the underwater unmanned vehicle determines its rough navigation information in the polar region; the master underwater unmanned vehicle uses the ultra-short baseline system to determine the Azimuth and distance information between manned and unmanned vehicles; master underwater unmanned aerial vehicle sends information to slave underwater unmanned aerial vehicles; obtains accurate navigation information from underwater unmanned aerial vehicles; judges whether the current filtering frequency is greater than or equal to the total Filter times: if not satisfied, then jump to step three; if satisfied, then end. The present invention can effectively realize the cooperative navigation of multiple underwater unmanned vehicles in the polar region considering the delay of underwater acoustic communication, and has better accuracy than the method of cooperative navigation of the polar region of underwater unmanned vehicles that does not consider the delay of underwater acoustic communication .

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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