A Guidance Method for Auv Capture Based on Acoustic and Optical Guidance

Abstract

The invention discloses an AUV capture and guidance method based on acoustic and optical guidance, including: when the mother ship receives the signal to be recovered transmitted by the AUV, four underwater acoustic transducers are used to send the acoustic signal to the AUV; the AUV receives the acoustic signal and calculates The time difference between different signals arriving at the AUV, and the relative position between the AUV and the mother ship are calculated according to the time difference. The AUV sends its position information and acoustic guidance status to the mother ship, and the mother ship sends the acoustic guidance status to the AUV recovery device ROV; the AUV detects the settings on the AUV recovery device ROV. When the guide light signal of the ROV rear wall of the AUV recovery device is detected, the relative position of the guide light on the rear wall of the AUV recovery device ROV relative to the coordinate system formed by the front side guide light is used to estimate the AUV recovery The location of the device ROV.

Description

technical field [0001] The invention relates to the field of underwater robot control, in particular to an AUV capture and guidance method based on acoustic and optical guidance. Background technique [0002] AUV capture and guidance is the key issue in AUV recovery. At present, AUV recovery guidance mainly adopts acoustic guidance or optical guidance, but due to factors such as noise interference, the accuracy of underwater acoustic positioning is greatly affected, and the recovery cabin signal light Guided into the cabin, in the process of entering the cabin, it can only enter the cabin through inertia, which is prone to collisions and brings unnecessary damage to the AUV. There are two main types of existing underwater AUV recovery technologies. The first is the fishing method, which uses a net-like structure to catch the AUV directly ashore. This method can easily cause damage to the AUV; the second method uses the box body Or the recovery device is fixed on the seabed....

AI Technical Summary

Problems solved by technology

[0002] AUV capture and guidance is the key issue in AUV recovery. At present, AUV recovery guidance mainly adopts acoustic guidance or optical guidance, but due to factors such as noise interference, the accuracy of underwater acoustic positioning is greatly affected, and the recovery cabin signal light Guided into the cabin, the cabin can only be entered through inertia during the process of entering the cabin, which is prone to collisions and brings unnecessary damage to the AUV

There are two main types of existing underwater AUV recovery technologies. The first is the fishing method, which uses a net-like structure to catch the AUV directly ashore. This method can easily cause damage to the AUV; the second method uses the box body Or the recovery device is fixed on the seabed. This method requires the AUV to enter the fixed recovery device and recover the AUV through the recovery device. However, due to the uncertainty of the water flow and the limitations of the AUV's own design, the AUV can only do linear motion in the water. It is impossible to do horizontal and vertical movements directly in the water, especially when it is affected by the horizontal current in the water, it is easy to deviate from the channel and cannot reach the predetermined position quickly

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