A navigation and guidance method for underwater vehicles based on single beacon

Abstract

The present invention discloses a method for navigating and guiding an underwater vehicle based on a single beacon, which belongs to the field of underwater navigation technology and is used for navigating and guiding an underwater vehicle. The method comprises: when the underwater vehicle completes the offshore work, a beacon is set at a set interval of the navigation mileage on the operation track of the underwater vehicle, and the beacon closest to the underwater vehicle transmits a hydroacoustic signal to the underwater vehicle to measure the distance between the current beacon and the underwater vehicle; the underwater vehicle calculates its own heading deviation angle, and determines whether to correct the heading of the underwater vehicle through the heading deviation angle to obtain a new heading angle, and the underwater vehicle sails toward the beacon closest to the underwater vehicle according to the new heading angle. The present invention only needs one ordinary transponder beacon to guide the driving track of the underwater vehicle, and the beacon position does not need to be calibrated in advance; the accuracy requirement for the underwater vehicle's own navigation equipment is low, and only the relative position measurement result in a short time needs to be provided.

Description

Technical Field

[0001] The invention discloses an underwater vehicle navigation and guidance method based on a single beacon, belonging to the technical field of underwater navigation. Background Art

[0002] At present, underwater vehicles mainly rely on the strapdown inertial navigation system SINS combined with the Doppler odometer DVL for real-time underwater positioning, and perform tasks on designated paths according to preset waypoints. However, when underwater vehicles perform long-distance and long-duration tasks, this positioning method will have cumulative errors over time, and the determination of waypoints depends on its own navigation system. Once an error occurs in the navigation system, it is difficult to accurately reach the target location. To overcome these problems, underwater ultra-short baseline USBL and long baseline LBL positioning systems are usually used to provide external position references for underwater vehicles and suppress inertial navigation errors through acoustic ranging technology. However, the use of USBL requires support from the mother ship on the surface, and LBL requires at least three beacons to be pre-deployed. These two methods are mainly suitable for routine operations within a small range and cannot be used for long-duration and long-distance covert missions. Summary of the invention

[0003] The object of the present invention is to provide an underwater vehicle navigation and guidance method based on a single beacon, so as to solve the problem in the prior art that the underwater vehicle navigation and guidance is overly dependent on a mother ship and pre-deployed beacons.

[0004] A single beacon-based underwater vehicle navigation and guidance method, comprising:

[0005] During the operation in the open sea, S1 uses a mother ship to carry an underwater vehicle to the target sea area where no beacon is deployed. The mother ship releases the underwater vehicle in the target sea area, and the underwater vehicle sails underwater in the open sea according to the pre-planned trajectory;

[0006] The S2 underwater vehicle carries multiple beacons. After a set mileage interval, the underwater vehicle releases the beacon. The release position of the beacon is the position of the underwater vehicle at the moment when the underwater vehicle releases the beacon. The underwater vehicle carries an inertial navigation system and a Doppler range meter to record and store the release position of the beacon;

[0007] S3 When the underwater vehicle completes its offshore work, a beacon is set at a set interval on the underwater vehicle's operating track. The beacon closest to the underwater vehicle Transmitting an acoustic signal to the underwater vehicle to measure the distance between the current beacon and the underwater vehicle;

[0008] S4 The underwater vehicle calculates its own heading angle, determines whether to correct the heading of the underwater vehicle through the heading angle, and obtains a new heading angle. The underwater vehicle heads towards the beacon closest to the underwater vehicle according to the new heading angle. Sailing;

[0009] S5 The underwater vehicle reaches the beacon closest to the underwater vehicle Then, repeat S3 and S4 to go to the beacon closest to the underwater vehicle. , until reaching the mother ship.

[0010] S3 includes S3.1 the underwater vehicle moves towards the beacon closest to the underwater vehicle Sending ranging signals to the beacon closest to the underwater vehicle After receiving the ranging signal, the underwater vehicle transmits an acoustic signal. After receiving the acoustic signal, the underwater vehicle records the time taken from transmitting to receiving the acoustic signal. ;

[0011] S3.2 The underwater vehicle obtains the speed of sound through the sound speed measuring device ;

[0012] S3.3 Underwater vehicle records its initial position , to obtain Distance beacon Distance :

[0013] .

[0014] S3 includes S3.4, the underwater vehicle keeps heading and continues to move, and calculates the current position of the underwater vehicle in real time and Distance :

[0015] ;

[0016] S3.5 Reaching the preset threshold Then, record the current position of the underwater vehicle , and repeat steps S3.1 to S3.3 once to get the current underwater vehicle distance beacon Distance .

[0017] S4 includes S4.1 calculating the underwater vehicle's own heading deviation angle :

[0018] ;

[0019] In the formula, ;

[0020] S4.2 If Less than the deflection threshold , the underwater vehicle continues to maintain its original course;

[0021] if , the underwater vehicle turned around;

[0022] if , the underwater vehicle deflects an angle in any direction .

[0023] S4 includes S4.3, which is calculated by S4.1 Set as , record the direction of the underwater vehicle deflection in S4.2, and set the current position of the underwater vehicle to , the underwater vehicle's current distance to the beacon The distance is set to , repeat S3.4 to S4.2, if S4.2 is still satisfied ,Compare and The size of Greater than When the underwater vehicle is turned, the deflection direction is changed.

[0024] S4 includes S4.4 repeating S3.4 to S4.3 until the underwater vehicle reaches the beacon The distance is less than the distance threshold When the underwater vehicle reaches the beacon, it stops sailing. location.

[0025] S5 includes the underwater vehicle receiving the beacon signal, and start heading towards the beacon Navigation and relay guidance.

[0026] Compared with the prior art, the present invention has the following beneficial effects: only one common transponder beacon is needed to guide the driving trajectory of the underwater vehicle, and the beacon position does not need to be calibrated in advance; the accuracy requirements for the underwater vehicle's own navigation equipment are low, and only relative position measurement results within a short period of time need to be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of calculating the course deviation angle of the underwater vehicle of the present invention;

[0028] Figure 2 This is a schematic diagram for judging the heading angle;

[0029] Figure 3 Schematic diagram of underwater vehicle AUV trajectory and beacon position;

[0030] Figure 4 is a schematic diagram of the heading deflection angle;

[0031] Figure 5 Schematic diagram of heading angle. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] A single beacon-based underwater vehicle navigation and guidance method, comprising:

[0034] During the operation in the open sea, S1 uses a mother ship to carry an underwater vehicle to the target sea area where no beacon is deployed. The mother ship releases the underwater vehicle in the target sea area, and the underwater vehicle sails underwater in the open sea according to the pre-planned trajectory;

[0035] The S2 underwater vehicle carries multiple beacons. After a set mileage interval, the underwater vehicle releases the beacon. The release position of the beacon is the position of the underwater vehicle at the moment when the underwater vehicle releases the beacon. The underwater vehicle carries an inertial navigation system and a Doppler range meter to record and store the release position of the beacon;

[0036] S3 When the underwater vehicle completes its offshore work, a beacon is set at a set interval on the underwater vehicle's operating track. The beacon closest to the underwater vehicle Transmitting an acoustic signal to the underwater vehicle to measure the distance between the current beacon and the underwater vehicle;

[0037] S4 The underwater vehicle calculates its own heading angle, determines whether to correct the heading of the underwater vehicle through the heading angle, and obtains a new heading angle. The underwater vehicle heads towards the beacon closest to the underwater vehicle according to the new heading angle. Sailing;

[0038] S5 The underwater vehicle reaches the beacon closest to the underwater vehicle Then, repeat S3 and S4 to go to the beacon closest to the underwater vehicle. , until reaching the mother ship.

[0039] S3 includes S3.1 the underwater vehicle moves towards the beacon closest to the underwater vehicle Sending ranging signals to the beacon closest to the underwater vehicle After receiving the ranging signal, the underwater vehicle transmits an acoustic signal. After receiving the acoustic signal, the underwater vehicle records the time taken from transmitting to receiving the acoustic signal. ;

[0040] S3.2 The underwater vehicle obtains the speed of sound through the sound speed measuring device ;

[0041] S3.3 Underwater vehicle records its initial position , to obtain Distance beacon Distance :

[0042] .

[0043] S3 includes S3.4, the underwater vehicle keeps heading and continues to move, and calculates the current position of the underwater vehicle in real time and Distance :

[0044] ;

[0045] S3.5 Reaching the preset threshold Then, record the current position of the underwater vehicle , and repeat steps S3.1 to S3.3 once to get the current underwater vehicle distance beacon Distance .

[0046] S4 includes S4.1 calculating the underwater vehicle's own heading deviation angle :

[0047] ;

[0048] In the formula, ;

[0049] S4.2 If Less than the deflection threshold , the underwater vehicle continues to maintain its original course;

[0050] if , the underwater vehicle turned around;

[0051] if , the underwater vehicle deflects an angle in any direction .

[0052] S4 includes S4.3, which is calculated by S4.1 Set as , record the direction of the underwater vehicle deflection in S4.2, and set the current position of the underwater vehicle to , the underwater vehicle's current distance to the beacon The distance is set to , repeat S3.4 to S4.2, if S4.2 is still satisfied ,Compare and The size of Greater than When the underwater vehicle is turned, the deflection direction is changed.

[0053] S4 includes S4.4 repeating S3.4 to S4.3 until the underwater vehicle reaches the beacon The distance is less than the distance threshold When the underwater vehicle reaches the beacon, it stops sailing. location.

[0054] S5 includes the underwater vehicle receiving the beacon signal, and start heading towards the beacon Navigation and relay guidance.

[0055] Ordinary scalar beacons can only measure distance but not direction, so beacons that are not jointly deployed cannot independently guide underwater vehicles forward. If a control network is deployed in advance within the operating range of the underwater vehicle, it is necessary to use multiple large beacons in conjunction with multiple ordinary scalar beacons for deployment, similar to the step-by-step control measurement in control measurement. Although this method has high accuracy, it requires a lot of money and time. It is not practical to carry large beacons on underwater vehicles, and when carrying ordinary scalar beacons, although multiple can be carried, ordinary scalar beacons cannot be turned sideways, resulting in their inability to guide underwater vehicles. The present invention is proposed to solve this problem, and the use of ordinary scalar beacons can also play a role in guiding underwater vehicles.

[0056] The underwater vehicle of the present invention calculates its own heading angle as follows: Figure 1 As shown, Figure 1 After the calculation is completed, refer to Figure 2 Determine the heading angle, if Less than the deflection threshold , the underwater vehicle continues to maintain its original course; if , the underwater vehicle turns around; if , the underwater vehicle deflects an angle in any direction , please refer to Table 1 for specific values.

[0057] Table 1 Actions and data corresponding to the deflection values

[0058] ;

[0059] In specific implementation, setting , , , the initial position of the underwater vehicle is , the initial heading angle is , the driving speed is , the beacon position is , the ranging error is set to a random proportional error with a maximum amplitude of 0.002 and a random bias error with a maximum amplitude of 1m, , and contains a random angular error with a maximum amplitude of 3°.

[0060] Based on the above results, experiments were conducted to obtain the schematic diagram of the underwater vehicle AUV trajectory and beacon position as shown in the figure Figure 3 As shown in FIG. 1 , it can be seen that the underwater vehicle can move roughly toward the beacon; the heading angle and heading angle are as follows: Figure 4 and Figure 5 As shown in the figure, it can be seen that after the deliberately set large initial heading angle deviation is corrected, the subsequent deviations are maintained at a smaller value, and when the underwater vehicle heading deviates, it can be effectively corrected. Figure 5 It can be seen that the guidance method mentioned in the present invention can make the heading angle of the underwater vehicle always close to the real deviation angle, reduce detours and achieve efficient guidance.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features may be replaced by equivalents, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A single beacon-based underwater vehicle navigation and guidance method, characterized in that: include: During the operation in the open sea, S1 uses a mother ship to carry an underwater vehicle to the target sea area where no beacon is deployed. The mother ship releases the underwater vehicle in the target sea area, and the underwater vehicle sails underwater in the open sea according to the pre-planned trajectory; The S2 underwater vehicle carries multiple beacons. After a set mileage interval, the underwater vehicle releases the beacon. The release position of the beacon is the position of the underwater vehicle at the moment when the underwater vehicle releases the beacon. The underwater vehicle carries an inertial navigation system and a Doppler range meter to record and store the release position of the beacon; S3 When the underwater vehicle completes its offshore work, a beacon is set at a set interval on the underwater vehicle's operating track. The beacon closest to the underwater vehicle Transmitting an acoustic signal to the underwater vehicle to measure the distance between the current beacon and the underwater vehicle; S4 The underwater vehicle calculates its own heading angle, determines whether to correct the heading of the underwater vehicle through the heading angle, and obtains a new heading angle. The underwater vehicle heads toward the beacon closest to the underwater vehicle according to the new heading angle. Sailing; S5 The underwater vehicle reaches the beacon closest to the underwater vehicle Then, repeat S3 and S4 to go to the beacon closest to the underwater vehicle. , until reaching the mother ship.

2. The method for underwater vehicle navigation and guidance based on a single beacon according to claim 1, characterized in that: S3 includes S3.1 the underwater vehicle moves towards the beacon closest to the underwater vehicle Sending ranging signals to the beacon closest to the underwater vehicle After receiving the ranging signal, the underwater vehicle transmits an acoustic signal. After receiving the acoustic signal, the underwater vehicle records the time taken from transmitting to receiving the acoustic signal. ; S3.2 The underwater vehicle obtains the speed of sound through the sound speed measuring device ; S3.3 The underwater vehicle records its initial position , to obtain Distance beacon Distance : 。 3. The method for underwater vehicle navigation and guidance based on a single beacon according to claim 2, characterized in that: S3 includes S3.4, the underwater vehicle keeps heading and continues to move, and calculates the current position of the underwater vehicle in real time and Distance : ； S3.5 Reaching the preset threshold Then, record the current position of the underwater vehicle , and repeat steps S3.1 to S3.3 once to get the current underwater vehicle distance beacon Distance .

4. The method for underwater vehicle navigation and guidance based on a single beacon according to claim 3, characterized in that: S4 includes S4.1 calculating the underwater vehicle's own heading deviation angle : ； In the formula, ; S4.2 If Less than the deflection threshold , the underwater vehicle continues to maintain its original course; if , the underwater vehicle turned around; if , the underwater vehicle deflects an angle in any direction .

5. The method for underwater vehicle navigation and guidance based on a single beacon according to claim 4, characterized in that: S4 includes S4.3 and S4.1 calculated Set as , record the direction of the underwater vehicle deflection in S4.2, and set the current position of the underwater vehicle to , the underwater vehicle's current distance to the beacon The distance is set to , repeat S3.4 to S4.2, if S4.2 is still satisfied ,Compare and The size of Greater than When the underwater vehicle is turned, the deflection direction is changed.

6. The method for underwater vehicle navigation and guidance based on a single beacon according to claim 5, characterized in that: S4 includes S4.4 repeating S3.4 to S4.3 until the underwater vehicle reaches the beacon The distance is less than the distance threshold When the underwater vehicle reaches the beacon, it stops sailing. location.

7. The method for underwater vehicle navigation and guidance based on a single beacon according to claim 6, characterized in that: S5 includes the underwater vehicle receiving the beacon signal, and start heading towards the beacon Navigation and relay guidance.

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