AUV intelligent motion observation method based on data driving

It is a data-driven and intelligent technology, which is applied in the directions of measuring devices, surveying and navigation, and open-air water source survey. It can solve problems such as difficult to obtain observation data of marine phenomena and affect the application prospects of AUV, and achieve important scientific significance and application value, and the speed is fast. , the effect of small amount of calculation

Active Publication Date: 2020-03-24
SECOND INST OF OCEANOGRAPHY MNR
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  • Claims
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Problems solved by technology

For ocean features that vary in time and space, such as mesoscale eddies, internal waves, seabed hydrothermal fluids, cold seeps, etc., it is difficult to obtain observational data that can best reveal ocean phenomena, which affects the application of AUV to a certain extent. prospect

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  • AUV intelligent motion observation method based on data driving
  • AUV intelligent motion observation method based on data driving
  • AUV intelligent motion observation method based on data driving

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Embodiment Construction

[0050] The specific content and function realization process of the present invention will be explained in detail below in conjunction with the accompanying drawings.

[0051] Such as figure 1 Shown, specific embodiment of the present invention and its implementation process are as follows:

[0052] Such as figure 1 As shown, the specific implementation of the present invention includes determining the initial value of the ocean characteristic estimation parameter, determining the attenuation factor, updating the estimated parameter, updating the ocean characteristic estimation, obtaining the ocean characteristic gradient, and updating the AUV heading. Driven by new observation data, The AUV can reach the center of the ocean feature with the optimal observation path.

[0053]First, the AUV carries corresponding sensors to randomly collect some ocean observation data in the observation area, and obtains the initial estimate of the ocean observation data through the formula ...

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Abstract

The invention discloses an AUV intelligent motion observation method based on data driving. Current observation ocean data acquired by an underwater autonomous submersible vehicle is represented by alinear combination of a group of primary functions; secondly, the marine data to be observed is processed by adopting a recursive weighted least square estimation method to obtain an observed marine data coefficient, an estimated value of the observed marine data at the latest moment is obtained by utilizing the observed marine data coefficient, and a gradient of the estimated value of the observed marine data is obtained; and finally, the underwater autonomous submersible vehicle reaches the position of the marine observation center in the gradient direction. According to the invention, underthe drive of new observation data, the AUV can quickly reach the central position of the marine characteristics with the optimal observation path, and help is provided for efficient application of the underwater autonomous mobile observation platform in marine science.

Description

technical field [0001] The invention relates to an AUV observation motion control method in the technical field of underwater robots, in particular to a data-driven AUV intelligent observation motion method. Background technique [0002] Compared with marine observation platforms such as ship-borne, towed, and moored, autonomous underwater vehicles (AUVs) have strong mobility, can complete observation tasks in complex environments, and have online data processing capabilities and autonomous navigation capabilities. , can realize underwater autonomous investigation. Therefore, since its birth, AUV has been widely used in military, civilian and scientific research such as underwater target recognition, pipeline inspection, environmental monitoring, thermocline tracking, submarine hydrothermal vent positioning, and refined terrain construction. [0003] However, for a long time, AUVs have generally adopted pre-programmed operating modes to conduct ocean observations according ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/08G01C13/00
CPCG05D1/10G05D1/0875G01C13/00Y02A90/10
Inventor 朱心科倪晓波马云龙侯斐孟肯
Owner SECOND INST OF OCEANOGRAPHY MNR
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