Low-power-consumption cross-boundary return position control method for autonomous underwater vehicle

Abstract

The invention provides a low-power-consumption cross-boundary return position control method for an autonomous underwater vehicle, and the method specifically comprises the steps: selecting a proper position control region, a proper position control radius and a proper position control depth according to actual demands; the aircraft autonomously sails to the designated position control depth of the center point of the position control area and enters a standby floating mode; in the standby floating mode, when the aircraft exceeds the range of the position control area, entering a homeward voyage mode; the aircraft returns to the center point of the position control area, and the return flight mode is ended; and judging whether the position control task needs to be ended or not, if so, ending the task, and if not, switching to the standby floating mode again. Under the standby floating mode and the homeward voyage mode, unnecessary equipment is powered off, the power consumption of the vehicle is reduced, and the problems that in an existing fixed point position control method of the autonomous underwater vehicle, all key equipment needs to be kept in a power-on working state for a long time, energy consumption is high, and position control time is short are solved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a low-power cross-boundary return position control method for an autonomous underwater vehicle. Background Art

[0002] An autonomous underwater vehicle is an unmanned marine vehicle that can submerge underwater for a long period of time, perform combat or operational tasks by configuring mission payloads, rely on its own energy for autonomous control, and can be recovered and reused.

[0003] Depending on the mission requirements, autonomous underwater vehicles may need to standby for a long time in a certain sea area to control their position. Currently, fixed-point control is generally used, that is, various control methods are used to keep the position of the vehicle fixed. This method has a good control effect, but it requires that the key equipment of the vehicle always remain powered on during the control process, resulting in high energy consumption for control. In the case of limited battery capacity, the control time is short, and it is difficult to meet the long-term control requirements. Summary of the invention

[0004] In view of this, the present invention provides a low-power cross-boundary return positioning method for an autonomous underwater vehicle, which can solve the problems of high energy consumption and short positioning time of existing fixed-point positioning methods.

[0005] The specific technical solutions are as follows:

[0006] A low-power cross-boundary return position control method for an autonomous underwater vehicle comprises the following steps: selecting a suitable position control area, a position control radius and a position control depth according to actual needs; the vehicle autonomously navigates to a designated position control depth at the center of the position control area and enters a standby floating mode; when the vehicle exceeds the range of the position control area in the standby floating mode, it enters a return mode; the vehicle returns to the center of the position control area and ends the return mode; judging whether it is necessary to end the position control task, if necessary, the task is ended, and if not, the vehicle is switched to the standby floating mode again; in the standby floating mode and the return mode, non-essential equipment is powered off to reduce the power consumption of the vehicle.

[0007] Furthermore, in the standby floating mode, only the buoyancy adjustment device and the inertial navigation remain powered on, and the vehicle performs depth control through the buoyancy adjustment device.

[0008] Furthermore, in the standby floating mode, only the vertical thrusters and the inertial navigation remain powered on, and the vehicle performs depth control through the vertical thrusters.

[0009] Furthermore, in the standby floating mode, the position of the vehicle changes with the ocean current, and the position information is obtained through inertial navigation to determine in real time whether the vehicle has exceeded the control area.

[0010] Furthermore, in the return mode, the vehicle obtains flow velocity and direction information through flow disturbance estimation, and generates a return strategy based on the current position and the determined center point position of the control area.

[0011] Furthermore, in the return mode, the main propulsion motor and the servo equipment are powered on.

[0012] Beneficial Effects

[0013] 1. The low-power cross-border return position control method provided by the present invention determines the position control area, the position control radius and the position control depth selection principle, selects the size and center point of the position control area according to the task requirements, and enters the standby floating mode after navigating to the specified depth of the position, and cuts off the power of non-essential equipment to reduce the power consumption of the aircraft;

[0014] 2. When the vehicle floats outside the control area, it enters the return mode, obtains ocean current information, and generates a return strategy based on the current position and the center point of the control area. It autonomously sails to the center point of the control area and enters the standby floating mode again. This strategy of staying in standby mode for a long time can reduce the energy consumption of the vehicle and extend the control time.

[0015] 3. Depth control can control the vehicle at the specified depth without floating up or touching the bottom;

[0016] 4. By estimating the flow disturbance or obtaining the flow velocity and direction information through the flow meter, the disturbance caused by the ocean current can be corrected to ensure that the vehicle can accurately return to the center of the designated control area;

[0017] 5. The craft is controlled at constant depth by means of a buoyancy regulating device or a vertical thruster, and the flow velocity and flow direction information is obtained by estimating flow disturbances or measuring with a flow meter. The present invention can flexibly select and configure corresponding software and hardware equipment according to the actual situation of the craft, and has a wider range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a flowchart of the implementation of the low-power cross-boundary return position control method for an autonomous underwater vehicle. DETAILED DESCRIPTION

[0019] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, 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 belong to the protection scope of the present invention.

[0020] This method is the first invention and has been put into practical application in the field of low-power cross-boundary return position control of autonomous underwater vehicles in China. This method conducts research on the low-power cross-boundary return position control method of autonomous underwater vehicles. By determining the control area, control radius and control depth selection principles, the size and center point of the control area are determined according to the task requirements. After sailing to the specified depth of the position, it enters the standby floating mode, and non-essential equipment is powered off to reduce the power consumption of the vehicle. When the vehicle floats outside the control area, it enters the return mode, obtains ocean current information, and produces a return strategy based on the current position and the center point of the control area. It sails autonomously to the center point of the control area and enters the standby floating mode again. Through this strategy of being in standby mode for a long time, the energy consumption of the vehicle is reduced and the control time is extended. The following is an example.

[0021] like Figure 1 As shown, it is a flow chart of the implementation of the low-power cross-boundary return position control method of the autonomous underwater vehicle of the present invention.

[0022] Based on the flow chart, the low-power cross-boundary return control method is described below.

[0023] The low-power cross-boundary return position control method of the autonomous underwater vehicle includes:

[0024] Determine the selection principles of the control area, control radius and control depth for low-power cross-border return control of autonomous underwater vehicles. Combined with the statistical data of electronic nautical charts and China Argo Real-time Data Center, select the area with appropriate mission sea depth, simple environment and weak ocean current as the control area, and determine the control radius and control depth according to the actual mission needs;

[0025] The autonomous underwater vehicle sails to the designated control depth at the center of the control area and enters the standby floating mode. All non-essential equipment is powered off, and the buoyancy adjustment device and the inertial navigation remain powered on, or the vertical thruster and the inertial navigation remain powered on;

[0026] In the standby floating mode, the vessel uses the buoyancy adjustment device or vertical thruster to control the depth. The position of the vessel changes with the ocean current. The position information is obtained through the inertial navigation to determine in real time whether it has exceeded the control area. If it has not exceeded the control area, it will continue to maintain the standby floating mode.

[0027] When the control area is exceeded, the vehicle enters the return mode. The vehicle obtains information such as flow velocity and direction through flow disturbance estimation, and generates a return strategy based on the current position and the determined center point of the control area.

[0028] The main propulsion motor, steering gear and other equipment are powered on, the vehicle returns to the center of the control area autonomously, and ends the return mode. It is determined whether the control mission needs to be ended. If necessary, the mission is ended. If not, it is switched to the standby floating mode again.

[0029] It should be understood that in the description of this specification, reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this description, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and some features of different embodiments or examples without contradicting each other.

[0030] Of course, without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these changes and modifications should all fall within the scope of protection of the claims of the present invention.

Claims

1. A low-power cross-boundary return position control method for an autonomous underwater vehicle, characterized in that: Select the appropriate control area, control radius and control depth according to actual needs; the vehicle autonomously navigates to the designated control depth at the center of the control area and enters the standby floating mode; When the aircraft is in the standby floating mode and exceeds the range of the control area, it enters the return mode; the aircraft returns to the center point of the control area and ends the return mode; it is determined whether the control task needs to be ended, and if so, the task is ended; if not, it is switched to the standby floating mode again; in the standby floating mode and the return mode, non-essential equipment is powered off to reduce the power consumption of the aircraft.

2. A low-power cross-boundary return position control method for an autonomous underwater vehicle according to claim 1, characterized in that: In the standby floating mode, only the buoyancy adjustment device and the inertial navigation remain powered on, and the vehicle performs depth control through the buoyancy adjustment device.

3. A low-power cross-boundary return position control method for an autonomous underwater vehicle according to claim 1, characterized in that: In the standby floating mode, only the vertical thrusters and inertial navigation remain powered on, and the vehicle performs depth control through the vertical thrusters.

4. A low-power cross-boundary return position control method for an autonomous underwater vehicle according to claim 2 or 3, characterized in that: In the standby floating mode, the position of the vehicle changes with the ocean current, and the position information is obtained through inertial navigation to determine in real time whether the vehicle has exceeded the control area.

5. A low-power cross-boundary return position control method for an autonomous underwater vehicle according to claim 1, characterized in that: In the return mode, the vehicle obtains flow velocity and direction information through flow disturbance estimation or flow meter, and generates a return strategy based on the current position and the determined center point of the control area.

6. A low-power cross-boundary return position control method for an autonomous underwater vehicle according to claim 1, characterized in that: In return mode, the main propulsion motor and servo equipment are powered on.

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