Autonomous underwater vehicle positioning method based on water buoy

Abstract

The invention provides an autonomous underwater vehicle positioning method based on a water buoy, and the method comprises the steps of releasing the buoy after the vehicle runs to a certain operation region, receiving a data packet sent by a transducer of the buoy floating to the water surface through the underwater vehicle, the data packet containing the latitude and longitude information of the buoy and UTC time, after the transducer of the positioned target AUV receives the data sent by the buoy method, enabling the transducer to transmit a signal to the processor of the vehicle and analyzes and calculates the data, and finally obtaining the positioning information of the vehicle. Compared with a traditional scheme which purely depends on AUV self positioning or AUV cooperative positioning, the method has higher precision, meanwhile, a plurality of high-precision devices do not need to be arranged, and the cost is saved. Compared with a traditional scheme of realizing AUV positioning by means of a seabed transponder array, the method has the advantages that the putting arrangement of the water buoys is more convenient and quicker than the putting arrangement of the seabed transponder array, and meanwhile, the water buoys can be recycled at any time after being used, so that the cost is saved.

Description

technical field [0001] The invention relates to the technical field of inertial navigation and underwater acoustic positioning, in particular to a positioning method for an autonomous underwater vehicle based on a buoy on the water. Background technique [0002] Usually, AUV needs to locate its own position through the method of dead reckoning. However, when the AUV performs tasks, as time goes by, the positioning error of the navigation equipment becomes larger and larger, requiring the AUV to float on the water surface and use GPS to complete the calibration, which greatly wastes the energy of the AUV. [0003] For this reason, a large number of scholars have proposed the scheme of cluster AUV collaborative navigation. At present, there are mainly two schemes for collaborative navigation of cluster AUVs at home and abroad: 1. Multiple AUVs use underwater acoustic navigation for information interaction to realize AUV positioning; 2. Set up an underwater transponder matrix ...

AI Technical Summary

Problems solved by technology

However, there are still many problems in these two traditional solutions: traditional solution 1, AUV positioning accuracy depends heavily on the accuracy of the equipment it carries, but because high-precision equipment is expensive, it can only be equipped with a small number of AUVs; traditional solution 2, due to The transponder must be placed on the bottom of the water or on the seabed, which has caused great difficulties in the launch and recovery of the transponder. It is conceivable that if the transponder array is installed in the deep sea area, this solution is not feasible

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