AUV (Autonomous Underwater Vehicle) return-dock navigation system and method based on electromagnetic wave attenuation principle

Abstract

The invention discloses an AUV (Autonomous Underwater Vehicle) return-dock navigation system based on an electromagnetic wave attenuation principle. The AUB return-dock navigation system comprises anelectromagnetic wave receiving module, an electromagnetic signal analysis module, an industrial personal computer and an underwater wireless sensor network, wherein the electromagnetic wave receivingmodule is carried on AUV and is used for receiving an electromagnetic wave signal emitted by a wireless radio frequency sensor and transmitting the electromagnetic wave signal to the electromagnetic signal analysis module; the electromagnetic signal analysis module is carried on the AUV and is used for enabling the electromagnetic wave signal to be converted from an analog signal into a digital signal and transmitting the digital signal to the industrial personal computer; the industrial personal computer is used for calculating intensity of the electromagnetic wave signal according to an electromagnetic wave digital signal and carrying out return-dock navigation on the AUV according to a preset navigation method; the underwater wireless sensor network is arranged in an AUV return-dock water domain and comprises a plurality of wireless radio frequency sensors with different emission frequencies. The invention also discloses a method for carrying out return-dock navigation based on theAUV return-dock navigation system. According to the AUV return-dock navigation system disclosed by the invention, high-precision navigation in a small range can be realized, and meanwhile, the systemcannot be affected by water quality, environmental noise and the like.

Description

technical field [0001] The invention relates to the technical field of underwater vehicle recovery and docking, in particular to an AUV docking navigation system and method based on the principle of electromagnetic wave attenuation. Background technique [0002] Autonomous underwater vehicle (AUV) is a powerful tool for human beings to explore the ocean, but the endurance of AUV is limited, and it needs to be recovered and recharged in time. In order to reduce costs, it is hoped that this charging process can be carried out directly underwater, rather than being recovered on shore by the mother ship. [0003] The Chinese patent document with the publication number CN102320362A discloses a submarine docking device for recovering AUVs for charging. In order for the AUV to successfully dock with the submarine base station, precise navigation algorithms are required. [0004] AUV back-to-dock navigation technology is a key technology in the process of back-to-dock connection. ...

AI Technical Summary

Problems solved by technology

However, acoustic navigation also has certain limitations, such as being greatly affected by environmental noise, such as the reflection interference of sound waves on surrounding objects, etc.

[0005] The Chinese patent document with the publication number CN104457754A discloses a navigation algorithm for positioning a submersible by using a long baseline. difficulty and cost

Although the use of SBL and USBL is less difficult than LBL, the cost of these two positioning systems is still high and it is difficult to popularize and apply them. Therefore, a navigation and positioning accuracy is required, and the cost is low, and it is suitable for AUV and submarine base stations. navigation positioning method

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