Simulation experiment platform for multi-AUV underwater cooperative operation

Abstract

The invention discloses a simulation experiment platform for multi-AUV underwater cooperative operation. The platform is a multi-AUV cooperative platform obtained by expanding a plurality of single AUV simulation platforms which communicate with one another. The upper computer and the remote control ship assembly or the ROV form a single AUV simulation platform. Sensor information of the simulatedAUV is collected, each single AUV simulation platform carries an MOOS platform on an upper computer, and the single AUV simulation platform is composed of a data communication module, a fusion navigation module, a planning decision module and a motion control module. According to the design, a multi-AUV message communication scheme is realized, and the reliability is ensured by using a heartbeatdetection mechanism; multi-source sensor information with different rates can be fused, the problem of sensor measurement delay is solved, outliers can be automatically detected and eliminated, and the navigation precision is improved; the platform has the advantages of simple experimental process, high debugging efficiency, low design cost, good expansibility, high reliability and the like; and experiments prove that the platform has a wide application prospect.

Description

technical field [0001] The invention belongs to the field of autonomous underwater vehicles, in particular to a simulation experiment platform for multi-AUV underwater cooperative operation. Background technique [0002] The ocean accounts for 71% of the earth's surface, and it is rich in marine biological resources, mineral resources and energy, and is an important wealth for the sustainable development of human society. As humans carry out ocean development activities more and more frequently and deeply, autonomous underwater vehicles (AUV) equipped with multi-sensors have become one of the main tools for humans to extend their perception capabilities in harsh underwater environments. . [0003] For underwater operations, AUV needs to know its own position at all times in order to decide the next action. Therefore, the high-precision navigation method of fusing multi-sensor information is the technical guarantee for AUV to complete the task. On the basis of navigation, A...

AI Technical Summary

Problems solved by technology

However, the existing AUV simulation experiment platforms still have the following deficiencies: 1. Most of the existing simulation experiment platforms rely on pure software to simulate AUV motion or semi-physical simulation platforms; 2. Most of the existing simulation experiment platforms are aimed at single AUVs are simulated, and the simulation experiment platform for multi-AUV cooperation is less involved

Images