AUV docking method and device, and underwater docking system

An algorithm and coordinate system technology, applied in control/adjustment system, vehicle position/route/height control, advanced technology, etc., can solve problems such as inability to meet docking requirements and low accuracy of underwater acoustic positioning system

Active Publication Date: 2020-01-24
嘉兴中科声学工程技术中心
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Problems solved by technology

However, in the existing docking methods, the accuracy of the underwater acoustic positioning system is low at short distances, which cannot meet the docking requirements

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  • AUV docking method and device, and underwater docking system
  • AUV docking method and device, and underwater docking system
  • AUV docking method and device, and underwater docking system

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Embodiment Construction

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0035]The focus of AUV underwater docking technology research is AUV underwater docking method and sensor technology. AUV actively docks with underwater stationary platforms or mobile platform targets to complete energy supplements, data playback and download new missions for AUVs.

[0036] To achieve underwater docking, at least three aspects of information are needed, namely the di...

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Abstract

The invention provides an AUV docking method and device, and an underwater docking system. The method is performed by an AUV and comprises the steps of: obtaining ultra-short baseline USBL positioningresult information, wherein the USBL positioning result information comprises phase information and delay information of an underwater acoustic signal sent by a docking structure; based on the obtained phase information and the delay information of the underwater acoustic signal, performing calculation by using a USBL positioning solution algorithm to obtain a positioning result of the docking structure; based on the obtained delay information of the underwater acoustic signal, performing calculation by using a short baseline SBL positioning solution algorithm to obtain a positioning result of the AUV; and controlling the AUV to dock with the docking structure according to the positioning result of the docking structure and the positioning result of the AUV. By adopting the AUV docking method provided by the invention, the overall positioning accuracy of underwater acoustic positioning can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of underwater docking, in particular to an AUV docking method, device and underwater docking system. Background technique [0002] The active time of AUV (Autonomous Underwater Vehicle) underwater is mainly limited by the energy it carries. When the AUV completes a certain task, it usually needs to be recovered to the surface support platform in order to replenish energy, replay data and download new mission tasks. When the AUV is operating in the deep sea, the deployment and recovery of the AUV will take a long time. Therefore, AUV underwater docking technology is very necessary. The existing docking methods generally use one or more of acoustic sensors, optical sensors, electromagnetic sensors and visual sensors for navigation and positioning to complete the docking task. However, in the existing docking methods, the accuracy of the underwater acoustic positioning system is low at short distances, which...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692Y02D30/70
Inventor 刘斌冯海泓黄敏燕薛强倪连兵
Owner 嘉兴中科声学工程技术中心
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