AUV underwater recovery docking system based on multi-acoustic-beacon guidance

Abstract

The invention discloses an AUV (Autonomous Underwater Vehicle) underwater recovery docking system based on multi-acoustic-beacon guidance, which comprises an AUV and an underwater recovery platform. Aplurality of transducers are installed on the recovery platform as acoustic recovery beacons, and an acoustic receiver capable of receiving transducer signals and a corresponding processing module are installed on the AUV. The transducers on the recovery platform send out acoustic positioning signals, and the AUV calculates the relative deviation between the AUV and the central axis of the recovery platform according to the phase difference or arrival time difference between the received acoustic signals and corrects the horizontal position, the vertical position or both of the two positions.An AUV control part can control the position and direction of the vehicle in the recovery process to be located on the central axis of the recovery platform as much as possible in the horizontal plane and the vertical plane, and meanwhile the vehicle corrects the advancing posture, speed and the like of the vehicle through other carried sensors so as to achieve accurate butt joint with the recovery platform.

Description

technical field [0001] The invention belongs to the technical field of marine engineering and automatic control, and in particular relates to an AUV underwater recovery and docking system guided by multiple acoustic beacons. Background technique [0002] In order to fully understand, protect, develop and utilize the resources of rivers, lakes and seas, autonomous underwater vehicles (AUV), which are flexible in action, easy to use, and fast in data exchange, have been widely used in water quality surveys and naval mine countermeasures. , Aquatic biological survey, water surface and underwater engineering development and testing, etc. However, due to the constraints of battery technology, AUV cannot sail for a long time, and AUV must also upload data and download tasks regularly, so it has to frequently return to the underwater recovery platform for energy replenishment, data interaction, task release, guarantee maintenance, etc. Work. Due to the complex and changeable unde...

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Problems solved by technology

[0004] (1) Acoustic positioning system based on long baseline. This method needs to fix multiple acoustic beacons on the seabed in advance, and the distance between the beacons is relatively long, ranging from several kilometers to tens of kilometers. The farther the distance, the higher the accuracy ;Before use, the coordinates of all beacons on the seabed must be measured first, and then the AUV can calculate the relative position of the AUV by measuring the distance between itself and each beacon in real time; this method requires a large-scale signal on the seabed in advance. Standard layout, extremely cumbersome and inflexible to use

[0005] (2) Acoustic positioning system based on ultra-short baseline. This method only needs one transducer as an acoustic beacon. There is no specific requirement for the installation position of the beacon, but it is generally installed on the recovery device. Transponder and receiving base array; before use, you need to tell the AUV the relative position between the acoustic beacon and the docking device, and then the AUV receives the acoustic positioning signal sent by the acoustic beacon through its own ultra-short baseline base array, and according to The phase difference between the signals received by different array elements in the base array is used for positioning calculation; the main disadvantage of this method is that information interaction between the AUV and the acoustic beacon is required, which reduces the anti-interference and lacks concealment

[0006] The above-mentioned methods are complex and cumbersome, or lack anti-interference and concealment. In order to efficiently and reliably complete the task of AUV underwater recovery and docking, researchers urgently need a simple structure, no interaction, high reliability, and high-precision AUV autonomous recovery. docking system

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