Target searching method through coordinating of multiple underwater robots

Abstract

The invention belongs to the field of application of multiple underwater robots, and particularly relates to a target searching method through coordination of multiple underwater robots. By the targetsearching method, coordinated estimation of the multiple underwater robots during deep-seat searching process is achieved, target position and clock jitter estimation of an underwater active target is achieved, speed compensation under the condition that a Doppler speedometer cannot trace is achieved, the positioning accuracy of the multiple underwater robots is improved, and the large-range navigation operation is met. The target searching method through coordination of the multiple underwater robots involves a Doppler speedometer module, a water sound synchronous communication equipment module, a non-linear estimation module and a coordinated queuing control module. A failure target position can be effectively estimated during the process of executing a searching task at deep sea by themultiple underwater robots, enough positioning accuracy also can be maintained, and the large-range target searching operation demand of a multi-underwater robot system is satisfied under the condition that system complexity is not improved a lot and equipment cost is not increased a lot. The method is clear in logic and is simple to practice.

Description

technical field [0001] The invention belongs to the application field of multiple underwater robots, and specifically relates to the cooperative estimation problem of multiple underwater robots in the deep-sea target search process, realizes the target position and clock deviation estimation of underwater active targets, and realizes that the Doppler velocimeter cannot bottom out. The speed compensation in the tracking situation improves the positioning accuracy of multiple underwater robots and meets the needs of a wide range of navigation operations. A collaborative target search method for multiple underwater robots. Background technique [0002] Deep sea underwater target search is an important application direction in the field of underwater robots, and multi-underwater robot target search is one of the few means in the process of MH370 search. However, deep-sea target search needs to face two problems: (1) The clock errors of active targets (such as black boxes) will g...

AI Technical Summary

Problems solved by technology

However, deep-sea target search needs to face two problems: (1) The clock errors of active targets (such as black boxes) will gradually accumulate, resulting in errors in the obtained distance measurement information, reducing the search accuracy, and even causing the search results to diverge; ( 2) The deep-sea environment often exceeds the use range of the Doppler velocimeter, and the GNSS positioning method cannot be used underwater, resulting in a large positioning deviation of the underwater robot when operating in the deep sea, requiring multiple water-out calibrations, which reduces operating efficiency

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