A Method for Automatically Searching and Locating a Specific Underwater Target

Abstract

The invention discloses a method for automatic search and positioning of a specific underwater target. By using the autonomous underwater vehicle AUV as a movable sonar signal receiving transducer array, the collection of underwater sonar images is more convenient, efficient and comprehensive. EKF is adopted. ‑SLAM algorithm and chip-level atomic clock CSAC improve the positioning accuracy of autonomous underwater vehicles, apply machine learning to form optical and acoustic image data feature sets of specific underwater targets, and identify possible targets after feature recognition on autonomous underwater vehicles AUV The data is sent back to the mother ship for artificial secondary discrimination, which greatly improves the efficiency of target search.

Description

technical field [0001] The invention provides a method for automatically searching and locating a specific underwater target, which belongs to the field of underwater detection. Background technique [0002] The earth is a big water ball. The total area of ​​the ocean is about 360 million square kilometers, accounting for about 71% of the earth's surface area. Ocean transportation is one of the most important modes of transportation in the international exchange of goods, and the cargo transportation volume accounts for more than 80% of the total international cargo transportation volume. The ocean is also a rich source of biological and mineral resources. The seabed is very rich in minerals, rich in energy minerals, coal, oil, natural gas, combustible ice, etc., and 88 billion tons of rare earth ores, which can extract manganese, iron, nickel and other minerals. Future energy deuterium and tritium can also be extracted in seawater . [0003] In the investigation, valuat...

AI Technical Summary

Problems solved by technology

[0011] 1) The underwater wireless communication bandwidth is limited, which cannot meet the real-time image data return

[0012] 2) Limited by the fixed shape and distribution of the sonar array, multiple sonar arrays are required to continuously adjust the position of the receiving transducer to obtain more accurate underwater sonar images

[0013] 3) Due to the rapid attenuation of electromagnetic waves in water, the underwater UUV cannot accurately locate its own position through GPS signals, and relying only on the inertial navigation of UUV will make the positioning error more and more large, beyond what can be achieved. Acceptance range

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