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A method for predicting the trajectory of underwater vehicles based on pressure distribution

A technology for underwater vehicles and motion trajectories, which is applied in directions such as navigation through speed/acceleration measurement, and can solve problems such as prediction of underwater vehicle motion trajectories

Active Publication Date: 2020-10-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for predicting the trajectory of an underwater vehicle based on pressure distribution, which can realize the prediction of the trajectory of the underwater vehicle, and then solve the problem of predicting the trajectory of the underwater vehicle

Method used

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  • A method for predicting the trajectory of underwater vehicles based on pressure distribution
  • A method for predicting the trajectory of underwater vehicles based on pressure distribution
  • A method for predicting the trajectory of underwater vehicles based on pressure distribution

Examples

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Effect test

Embodiment 1

[0053] The vehicle is located in a level 5 wave water environment with a water depth of 20m, and the initial speeds in the x and y directions are 2m / s and 20m / s, respectively. The pressure measuring point arrangement scheme adopted is scheme 2.

[0054] The specific process of a calculation method for predicting the motion trajectory of an underwater vehicle based on the pressure distribution, such as figure 1 As shown, it is mainly realized by the following steps:

[0055] Step 1: Arrange the pressure measuring points on the surface of the vehicle;

[0056] Based on the underwater vehicle test, pressure measuring points are arranged on the surface of the vehicle. The number of pressure measuring points on one side of the vehicle is 52, and the numbers gradually increase from the head to the tail. The numbers of the pressure measuring points on the front and back surfaces are the same, and the total number of measuring points For 102, such as figure 2 As shown; the distribution pla...

Embodiment 2

[0088] The vehicle is located in a level 5 wave water environment with a water depth of 20m. The initial speeds in the x and y directions are 2m / s and 20m / s, respectively. The pressure measurement point arrangement scheme adopted is scheme 10.

[0089] The specific process of a calculation method for predicting the motion trajectory of an underwater vehicle based on the pressure distribution is the same as in Case 1. The predicted motion trajectory is as follows Picture 11 Shown.

[0090] Based on the pressure measuring point combination layout plan in Table 1, the motion trajectory prediction of 13 sets of plans is given, such as Picture 12 Shown. Taking the experimental measurement at a distance of 20m from the water surface to 1m as the criterion for the deviation error, Table 2 shows the deviation error of the 13 pressure measurement point combination distribution in Table 1.

[0091] Table 2 Deviation error of 13 pressure measuring point distribution schemes

[0092]

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Abstract

The invention relates to a method for predicting the motion track of an underwater vehicle based on pressure distribution, and belongs to the technical field of ship and underwater vehicle engineeringand underwater vehicle motion track estimation. Based on an underwater vehicle test, pressure measuring point arrangement is carried out on the surface of a vehicle, pressure data of pressure measuring points on the surface of the vehicle are obtained through the test, research and calculation are further carried out based on the data, and finally the movement rule and track of the underwater vehicle are obtained. Scientific basis can be provided for technologies of attitude control, motion mode control and the like of the underwater vehicle, and technical support is provided for a pressure measuring point arrangement scheme of the underwater vehicle test.

Description

Technical field [0001] The invention relates to a method for predicting the motion trajectory of an underwater vehicle based on pressure distribution, and belongs to the technical fields of ship and underwater vehicle engineering and underwater vehicle motion trajectory estimation. Background technique [0002] With the development of modern marine engineering and shipbuilding, the navigation safety of underwater vehicles has received more and more general attention and attention. Among them, the prediction of underwater vehicle trajectories is one of the focuses. The movement trajectory of the vehicle is restricted by the complicated underwater environment, which causes the water outlet position and movement area to change, making it difficult for decision-makers to control. Therefore, the establishment of a method for predicting the trajectory of underwater vehicles is a brand new technical problem, which has more practical engineering value and scientific significance. [0003]...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/10
Inventor 王国玉陈倩吴钦王典黄彪张汉哲
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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