Cooperative control method for underwater glider formation

An underwater glider and cooperative control technology, applied in non-electric variable control, height or depth control, control/adjustment system, etc., can solve the problem of low detection efficiency of underwater glider, reduced formation operation safety, and unfavorable formation operation of underwater glider and other issues, to achieve the effect of improving the utilization rate of computing resources, saving computing resources, and high security

Active Publication Date: 2021-06-11
THE PLA NAVY SUBMARINE INST
View PDF7 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the existing underwater glider formation operates, each formation member controls its own position in the formation to avoid excessive position deviation or avoid collisions between members, which requires each member of the underwater glider formation to allocate a part Using computing resources to ensure its own position in the formation will not only lead to low detection efficiency of the underwater glider, but also reduce the operational safety of the entire formation, which is not conducive to the formation operation of the underwater glider

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Cooperative control method for underwater glider formation
  • Cooperative control method for underwater glider formation
  • Cooperative control method for underwater glider formation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] like figure 1 As shown, the cooperative control method of the underwater glider formation in the present embodiment includes the following steps:

[0043] S1100: Each underwater glider in the formation obtains its own motion parameter data and sends it to the formation control platform;

[0044] In this step, the motion parameter data includes position information data and navigation speed data. After the position information of the underwater glider is determined, the motion parameter data also includes at least the navigation direction data and heading angular acceleration data of the underwater glider. The data and the navigation speed data can determine the specific position of the underwater glider in the next control cycle, so that the correction amount of the corresponding underwater glider can be calculated.

[0045] Not only the formation control platform can know the position of the underwater gliders in the formation, but also the position information betwee...

Embodiment 2

[0064] In a specific example, each member of the formation first obtains its own latitude and longitude data, roll angle, pitch angle, yaw angle and other data according to the pose sensor of its own platform; obtains mutual position information through communication between platforms , heading information, depth information and other data.

[0065] The formation control platform calculates and obtains the set parameter data according to its own motion parameters and the position of each member of the underwater glider formation in the formation. The formation control platform calculates its own latitude and longitude coordinates according to satellite positioning, and obtains the position coordinates of other members of the formation in the formation of this coordinate according to the coordinates, and the position coordinates are the set position data. It is convenient for the formation control platform to calculate the formation position of each member of the underwater gli...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a cooperative control method for an underwater glider formation. The cooperative control method comprises the following steps that step 1, each underwater glider in the formation obtains motion parameter data of the underwater glider and sends the motion parameter data to a formation control platform; 2, after the formation control platform receives the motion parameter data, a correction value of each underwater glider is calculated according to the motion parameter data and set parameter data; 3, a formation control platform sends the correction value to the corresponding underwater glider; and 4, each underwater glider receives the correction value and then adjusts navigation parameters according to the correction value. The formation control platform calculates the correction value of each underwater glider, so the operation resources of the underwater gliders are saved, and improvement of the utilization rate of the operation resources of the underwater gliders is facilitated; The formation control platform can master the motion parameter data of each member of the formation, and can know the position of each underwater glider in the formation in a more detailed manner, and thereby the formation pattern can be more accurately controlled.

Description

technical field [0001] The invention relates to the field of unmanned swarm control, and more specifically, to a method for cooperative control of underwater glider formations. Background technique [0002] With the rapid development of marine resources and marine environment detection, the use of a single underwater vehicle for observation and detection has an effective range and limited energy. Using multiple underwater vehicles to perform complex tasks in a fixed formation is a hot spot in the field of control. [0003] During the formation operation of underwater glider, it is necessary to maintain the relative position of each platform under complex sea conditions to maintain the stability of formation operation, so as to ensure that the formation can efficiently complete the ocean exploration task. When the existing underwater glider formation operates, each formation member controls its own position in the formation to avoid excessive position deviation or avoid colli...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692Y02P90/02
Inventor 笪良龙张文清邹佳运孙芹东田德艳
Owner THE PLA NAVY SUBMARINE INST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap