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Weakly-connected AUV cooperative navigation method based on mobile relay station

A technology of mobile relay station and cooperative navigation, which is applied in the field of cooperative navigation of underwater vehicles, and can solve the problems of original system hazards and other problems

Inactive Publication Date: 2019-06-25
NORTHWESTERN POLYTECHNICAL UNIV
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However, these practices will more or less cause certain harm to the original system

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  • Weakly-connected AUV cooperative navigation method based on mobile relay station
  • Weakly-connected AUV cooperative navigation method based on mobile relay station
  • Weakly-connected AUV cooperative navigation method based on mobile relay station

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Embodiment Construction

[0035] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0036] Such as figure 1 and figure 2 As shown, the weakly connected AUV cooperative navigation method based on the mobile relay station in this embodiment includes the following steps:

[0037] Step 1: In the initial stage of cooperative navigation, the navigation system clocks of all AUVs are calibrated using GPS signals to ensure clock synchronization. In a multi-AUV group, the master AUV and the slave AUVs in normal communication form the first-level cooperative navigation system. The two communicate with each other, and the slave AUV obtains the relative distance between itself and the master AUV, and corrects the dead reckoning result accordingly. location information.

[0038] That is, the master AUV emits acoustic signal pulses and broadcasts its ow...

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Abstract

The invention provides a weakly-connected AUV cooperative navigation method based on a mobile relay station. On the premise of not increasing the complexity of the original system and not changing thecontrol input of the original system, by using the existing constituent, cooperative navigation positioning is carried out again on a weakly-connected AUV. A first-level cooperative navigation systemis formed through a main AUV and a normally-communicating slave AUV, the weakly-connected AUV and the relay station form a second-level cooperative navigation system, a relative distance is obtainedthrough communication between the two levels of cooperative navigation systems, the position information obtained from self dead reckoning is thus corrected, and positioning is realized. The navigation information of each AUV itself and the measurement information between the AUVs obtained by using an underwater acoustic technology are combined, the navigation positioning accuracy of each AUV is further improved, the method has outstanding advantages of low cost, spatial and functional distribution, reconfigurability, high efficiency and the like, and tasks that are difficult to complete by asingle AUV can be completed.

Description

technical field [0001] The invention belongs to the technical field of cooperative navigation of underwater vehicles, and in particular relates to a weakly connected AUV cooperative navigation method based on a mobile relay station. Background technique [0002] With the deepening of human exploration and development of the ocean, the complexity of its tasks gradually exceeds the individual combat capability of unmanned underwater vehicles, so the multi-AUV cooperative system is getting more and more attention. In order to enable the multi-AUV cooperative system to complete tasks efficiently, accurate cooperative navigation technology is a prerequisite. However, for complex sea conditions, when multiple AUVs cooperate to navigate, unobservable and communication failures often occur, which is the weak connectivity phenomenon in this paper. [0003] For the unobservable situation, the current research mainly increases the observability of the system by planning complex paths ...

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Application Information

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IPC IPC(8): G01C21/20
Inventor 屈俊琪张立川潘光王永召
Owner NORTHWESTERN POLYTECHNICAL UNIV
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