Multi-underwater-robot cooperative ocean current estimation method

An underwater robot and ocean current technology, applied in the directions of instruments, fluid velocity measurement, sound wave re-radiation, etc., can solve the problems of positioning position velocity divergence, etc., and achieve the effect of increasing equipment cost, clear logic, and improving navigation ability.

Pending Publication Date: 2020-02-04
HARBIN ENG UNIV
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Problems solved by technology

However, when the underwater robot is navigating in the deep sea, the water depth often exceeds the measurement range of the Doppler velocimeter. At this time, the Doppler velocimeter can only obtain the relative velocity of the reference water body. If the flow velocity information of the water body cannot be obtained, the positioning position diverge the speed

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  • Multi-underwater-robot cooperative ocean current estimation method
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  • Multi-underwater-robot cooperative ocean current estimation method

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Embodiment Construction

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0021] A collaborative ocean current estimation method for multiple underwater robots includes a Doppler velocimeter module, an underwater acoustic synchronous communication module, a nonlinear estimation module, and a cooperative formation control module.

[0022] Doppler velocimeter module: Doppler velocimeter (120kHz) has a typical seafloor measurement range of about 300-400 meters. When the water depth exceeds the measurement range and cannot achieve bottom speed measurement, it can automatically switch to convection speed measurement mode.

[0023] Underwater Acoustic Synchronous Communicator module: Under typical marine environment, the communication range of the underwater acoustic synchronous communication machine is not less than 3km, and it has a high-precision crystal oscillator of 1PPM. Based on the communication function, it can realize One Way TravelTim...

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Abstract

The invention relates to a multi-underwater-robot cooperative ocean current estimation method. The method comprises the following steps of: starting a Doppler velocimeter, an underwater acoustic synchronous communication machine, a nonlinear estimation module and a cooperative formation control module; when an information state is bottom-to-bottom speed measurement, broadcasting position information by an underwater robot to achieve cooperative formation navigation operation; when the information state is convection speed measurement, entering an estimation discriminator to determine whether ocean current estimation needs to be carried out or not; achieving ocean current estimation by the nonlinear estimation module according to the position of a water surface supporting a mother ship, distance information, position estimation information, ocean current estimation information and distance information with other underwater robot; and fusing the ocean current estimation result and Doppler speed measurement information to compensate the position errors to the flow velocity measurement brought by the Doppler velocimeter to achieve position estimation of the underwater robot. The navigation capacity of the multi-underwater-robot system in the deep sea area can be improved, long-time deep sea area navigation without water outflow is achieved, and the large-range navigation requirement and the operation efficiency requirement are met.

Description

Technical field [0001] The invention relates to the field of coordinated positioning methods for multiple underwater robots, in particular to the field of methods for coordinated ocean current estimation of multiple underwater robots. Background technique [0002] Positioning information is a necessary condition for underwater robots to realize autonomous planning and autonomous control, as well as an important guarantee for underwater robots' task execution and safe operations. However, water is a poor conductor of electromagnetic waves, so the commonly used GNSS positioning and navigation methods are not suitable for underwater robots. Doppler velocity log (Doppler velocity log) is an acoustic device made of the Doppler effect of sound waves and the principle of flow measurement. It can be used to measure the absolute velocity of the underwater robot with reference to the seabed and the relative velocity of the reference water body. When the underwater robot can obtain the abs...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/50G01P5/24
CPCG01S15/50G01P5/241
Inventor 吴迪严浙平秦东亚周佳加张宏瀚徐健
Owner HARBIN ENG UNIV
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