Method and system for tracking underwater robot in real time, and unmanned relay equipment

Abstract

The invention provides a method and system for tracking an underwater robot in real time, and unmanned relay equipment, and relates to the technical field of marine equipment. The unmanned relay equipment comprises the following parts of an underwater acoustic communication device for communicating with the underwater robot; an underwater robot positioning device for positioning the underwater robot equipped with an acoustic beacon; a satellite communication positioning device for satellite communication with a mother ship or a shore-based accusation tower, and for calculating real-time latitude and longitude; an inertial navigation device for providing a three-degree-of-freedom attitude angle and three-degree-of-freedom axial acceleration information; an autonomous control unit for receiving azimuth and distance data of the underwater robot calculated by the underwater robot positioning device, receiving the motion state data provided by the satellite communication positioning deviceand the inertial navigation device, calculating a navigation trajectory according to each received data and performing thrust distribution; and a power and propulsion device for receiving thrust distribution information and propelling the unmanned relay equipment to sail according to the navigation trajectory.

Description

technical field [0001] The invention relates to the technical field of ship equipment, in particular to a method, system and unmanned relay equipment for real-time tracking of an underwater robot. Background technique [0002] With the development of society and the advancement of science and technology, the scope of application of underwater robots is becoming wider and wider, especially in key areas such as marine scientific research and resource exploration. The existing way to monitor the autonomous underwater robot that is working autonomously underwater is to establish an acoustic communication channel between the mother ship and the underwater robot, and implement information exchange such as status and instructions, so as to achieve the purpose of monitoring. The existing method of positioning and tracking the autonomous underwater robot that is performing autonomous operations underwater is: the mother ship and the underwater robot are equipped with acoustic positio...

AI Technical Summary

Problems solved by technology

If the tonnage of the mother ship is large, for example, the tonnage of most of the new scientific research ships in my country currently exceeds 4,000 tons, even if most of them are equipped with dynamic positioning devices, then their maneuverability is bound to be weak, and their flexibility is lower than that of the tracked target (autonomous underwater robot). ) is poor, the real-time tracking is poor, and the distance between the two is likely to exceed the effective range of the underwater acoustic communication device, resulting in "lost target signal", and in severe cases, it is easy to cause accidents where the autonomous underwater robot is lost

In addition, the real-time maneuvering of the mother ship increases the cost of navigation and is less economical

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