Underwater vehicle target tracking control method based on data driving

Abstract

The invention discloses an underwater vehicle target tracking control method based on data driving. The underwater vehicle target tracking control method comprises underwater sound detection, position prediction and motion control, wherein the underwater sound detection obtains the state information of a target through an airborne automatic sensing module according to the current pose information of AUV, position prediction is fused with the target state information generated by the airborne automatic sensing module, the position prediction is performed through extended Kalman filtering, the motion control strategy is adjusted under the driving of the position prediction in the motion control process, and the pose is continuously output to a motion control system. According to the invention, the data driving control algorithm adopted by the method is fused with the target state information generated by the airborne automatic sensing module, so that the method has relatively good adaptive capacity and relatively high robustness for target tracking control, and the target tracking control effect of the autonomous underwater vehicle under the ocean current condition can be effectively improved.

Description

technical field [0001] The invention belongs to the technical field of underwater vehicles, and in particular relates to an underwater vehicle target tracking control method. Background technique [0002] Among various marine technologies, autonomous underwater vehicles (AUVs) have the advantages of high maneuverability, high stability, and high endurance, and are widely used in scientific research, underwater operations, and military activities. Underwater target tracking is gradually It has become one of the key technologies for AUV underwater autonomous operation. AUV target tracking technology has important research value for marine land surveillance, coastal early warning or offshore defense, submarine pipeline tracking and maintenance. [0003] During the underwater operation of AUV, an important detection method is imaging detection, including optical vision imaging detection and sonar imaging detection. For optical vision imaging detection, one method is to achieve...

AI Technical Summary

Problems solved by technology

However, the imaging-based detection method has the disadvantages of poor timeliness and high energy consumption, and there are still many bottlenecks in practical applications.

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