Floating platform collaborative operation system for unmanned underwater vehicle

Abstract

The invention relates to the field of underwater vehicles, in particular to a floating platform collaborative operation system for an unmanned underwater vehicle, which comprises a floating platform and the unmanned underwater vehicle, the floating platform is connected with the unmanned underwater vehicle through a cable, and the floating platform controls the unmanned underwater vehicle to be released and recovered by winding and unwinding the cable. Communication with the unmanned underwater vehicle is realized through the electrical performance of the cable; an electric drive winch mechanism is arranged in the floating platform and used for controlling a cable to be wound and unwound; a satellite communication tower is arranged on the floating platform, comprises a satellite antenna array and is integrated with a meteorological sensor; the floating platform is provided with a phased array microwave antenna; the unmanned underwater vehicle is provided with a data communication system, and the system comprises a cable communication interface, an acoustic transducer array and a data processing unit, supports a TCP / IP protocol stack, and has data compression and encryption functions. The problems that an unmanned underwater vehicle is insufficient in communication stability, limited in positioning precision, low in recovery efficiency and high in risk in complex ocean operation are solved.

Description

Technical Field

[0001] The present invention relates to the field of submersibles, and particularly to a floating platform cooperative operation system for unmanned submersibles. Background Art

[0002] An unmanned submersible is a device that operates underwater without a driver and is remotely controlled or automatically controlled. It is mainly divided into a remotely operated underwater vehicle (ROV) and an autonomous underwater vehicle (AUV) according to the control method. The remotely operated underwater vehicle is connected to a mother ship or a control platform through a towed cable or optical cable, and is controlled by personnel on the mother ship or the platform, and does not have the ability of autonomous decision-making itself; the autonomous underwater vehicle has its own energy source and relies on the built-in control system to autonomously control navigation. It can autonomously plan paths and execute tasks according to a preset program or real-time environmental perception information.

[0003] In the fields such as ocean exploration, the application of unmanned submersibles is becoming more and more extensive. However, in the process of its operation, there are still certain challenges in aspects such as communication connection with the mother ship or other onshore control centers, precise positioning and navigation, and convenient recovery and deployment. Some existing auxiliary devices are difficult to meet the requirements of efficient and safe operation of unmanned submersibles. Summary of the Invention

[0004] The present invention provides a floating platform cooperative operation system for unmanned submersibles, and the technical problem to be solved is: to solve the problems of insufficient communication stability, limited positioning accuracy, low recovery efficiency and high risk of unmanned submersibles in complex ocean operations, and significantly improve the safety and continuity of deep-sea exploration operations.

[0005] In order to achieve the above invention purpose, a floating platform cooperative operation system for unmanned submersibles of the present invention adopts the following technical solutions: it includes a floating platform and an unmanned submersible, and the floating platform and the unmanned submersible are connected by a cable. An electric winch mechanism is arranged inside the floating platform to control the cable retraction and release, so as to realize the release and recovery of the unmanned submersible. The cable is internally provided with a power supply wire and an optical fiber communication link to support real-time power transmission of the submersible and TCP / IP protocol communication. The cable adopts an armored optical composite cable.

[0006] Furthermore, a main control cabin is arranged inside the floating platform, which includes a multi-core data processing center, a multi-source data fusion server and a dual-redundancy power system; the multi-core data processing center is connected to each sensor interface; the multi-source data fusion server runs a filter and integrates satellite positioning, inertial navigation and sonar data; the dual-redundancy power system is connected to an intelligent power distribution unit through a converter to realize grid-connected power supply and fault switching.

[0007] Furthermore, the main control cabin is provided with a navigation and positioning system, including:

[0008] Dual-frequency GNSS receiver, outputting real-time kinematic carrier phase differential positioning data to the multi-source data fusion server;

[0009] Fiber optic inertial navigation unit, sending attitude reference correction signals to the unmanned underwater vehicle;

[0010] Multi-beam sonar, used to generate a seabed terrain grid map and transmitting it to the multi-source data fusion server via optical fiber;

[0011] The fusion server implements terrain matching positioning and outputs a centimeter-level fusion positioning result of the platform.

[0012] Furthermore, a satellite communication tower is set on the floating platform, including:

[0013] Satellite antenna array, connected to the communication controller in the main control cabin, receiving measurement and control instructions from the onshore control center and transmitting data back to the relay satellite;

[0014] Meteorological sensor group, including an anemometer and wind vane, an atmospheric pressure sensor, and a temperature and humidity probe, accessing the multi-source data fusion server in the main control cabin, collecting meteorological data in real time and generating warning signals;

[0015] Phased array microwave antenna, which establishes a self-organizing communication link with the mother ship or adjacent platform under the scheduling of the main control cabin, and the phased array microwave antenna relays the surface signal of the mother ship's underwater acoustic communication system.

[0016] Furthermore, the unmanned underwater vehicle is provided with a data communication system, including:

[0017] Cable communication interface, interacting instructions with the main control cabin;

[0018] Acoustic transducer array, supporting underwater acoustic communication relay with the mother ship;

[0019] Data processing unit, running an adaptive channel equalization algorithm;

[0020] The data communication system supports the TCP / IP protocol stack and has data compression and encryption functions.

[0021] Furthermore, the unmanned underwater vehicle is provided with a positioning and perception system to improve the positioning accuracy of the platform, including:

[0022] Panoramic infrared camera: Set in cooperation with a laser rangefinder to achieve night optical positioning;

[0023] Ultra-short baseline beacon, receiving multi-beam sonar positioning signals and jointly resolving position information;

[0024] MEMS inertial module, periodically receiving fiber optic inertial navigation correction signals from the main control cabin;

[0025] Doppler log, combined with the terrain grid map of the main control cabin for SLAM simultaneous localization and mapping.

[0026] Furthermore, wet-mate connectors and magnetic coupling automatic alignment mechanisms are provided on the floating platform and the unmanned submersible to achieve efficient connection of cables.

[0027] The present invention discloses a control method for an unmanned submersible, including the following steps:

[0028] S1: Issuing and initializing operation instructions

[0029] S1.1 Instruction reception and verification. The onshore control center sends encrypted mission instructions to the floating platform through the satellite communication tower. The multi-core data processing center in the main control cabin of the floating platform parses the instruction format, verifies the digital signature and operation authority. The instructions that pass the verification are encapsulated as encrypted data packets through the cable communication interface and sent to the unmanned submersible through the cable.

[0030] S1.2 Power supply startup. The electric winch mechanism on the floating platform releases the cable according to the preset operation depth, and the dual-redundancy power system starts dynamic power distribution.

[0031] S2: Execution of multi-source navigation and positioning

[0032] S2.1 Positioning mode selection. Open sea mode: Enable the dual-frequency GNSS receiver and the fiber optic inertial unit to generate the initial trajectory. Complex water area mode: Switch to multi-beam sonar terrain matching and ultra-short baseline acoustic positioning.

[0033] S2.2 Data fusion processing. The multi-source data fusion server integrates the following data:

[0034] The angular velocity of the MEMS inertial module;

[0035] The velocity vector of the Doppler log;

[0036] The relative position parameters of the laser rangefinder;

[0037] Output a centimeter-level combined positioning result and feedback it to the control center in real time through the cable.

[0038] S3: Collection of operation data and communication relay

[0039] S3.1 Operation of the main communication link. Establish a full-duplex communication link. The data processing unit of the submersible performs LZ4 compression on the collected data and transmits it after attaching a timestamp.

[0040] S3.2 Triggering of emergency communication. When the cable is detected to be disconnected, the acoustic transducer array activates OFDM-modulated acoustic wave communication and enables forward error correction coding. The floating platform forwards the emergency data packet to the mother ship through the satellite communication tower and simultaneously starts the acoustic positioning beacon to guide the recovery.

[0041] S4: Task Termination and Recovery Control

[0042] S4.1 Recovery Instruction Response: After the submersible receives the termination instruction, it immediately seals the current task data into the waterproof memory, and the inertial navigation module switches to the high-precision mode; generates a return path by combining the data of the Doppler log;

[0043] S4.2 Cable Cooperative Recovery: When approaching the floating platform at a close distance, the wet-mate connector activates the electromagnetic guiding field; the electric winch mechanism adjusts the cable-receiving speed; the laser rangefinder detects the position offset of the submersible in real time, and the infrared thermal imaging system monitors the temperature of the connector.

[0044] S4.3 Fixing and Returning: The main control cabin of the floating platform plans the water surface return path, and controls the platform to return autonomously by integrating the sea current prediction data and GNSS track tracking.

[0045] The beneficial effects of the present invention are as follows: This solution significantly solves the three core problems of communication, positioning, and recovery in ocean exploration. In terms of communication, the system adopts a cable and wireless hybrid architecture to achieve high-speed data transmission and high-power supply; the phased array microwave antenna and the satellite communication tower construct a low-latency communication network, and cooperate with the adaptive beamforming technology of the meta-acoustic transducer to form a three-layer communication guarantee with cable as the main, wireless as the auxiliary, and acoustic as the emergency. In terms of positioning and navigation, the dual-frequency GNSS and fiber optic inertial navigation constitute an absolute positioning reference, combined with the ultra-short baseline beacon, Doppler log, and multibeam sonar, and the positioning accuracy is achieved through the terrain matching algorithm. In terms of the recovery function, the magnetic coupling coarse alignment guiding mechanism, combined with the electric winch, improves the recovery success rate and reduces the collision risk. The system also ensures continuous operation through the dual-redundant power supply, wet-mate connector, and multi-core data fusion server, and reduces the operation and maintenance cost. This solution improves the communication bandwidth, positioning accuracy, and recovery efficiency respectively, and provides a highly reliable solution for scenarios such as deep-sea exploration and underwater facility inspection. Description of the Drawings

[0046] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0047] Figure 2 It is a system framework diagram of the present invention;

[0048] Figure 3 It is a system working flow chart of the present invention;

[0049] Corresponding Table of Reference Numerals in the Drawings:

[0050] 1. Floating platform; 2. Unmanned submersible; 3. Cable. Detailed Embodiments

[0051] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. Among them, the same components are denoted by the same reference numerals.

[0052] It should be noted that the terms "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the accompanying drawings, and the terms "inner" and "outer" refer to the directions towards or away from the geometric center of a specific component respectively.

[0053] In order to make the content of the present invention easier to be clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0054] A collaborative operation system for a floating platform of an unmanned underwater vehicle according to the present invention adopts the following technical solutions: It includes a floating platform and an unmanned underwater vehicle. The floating platform and the unmanned underwater vehicle are connected by a cable. An electric winch mechanism is arranged inside the floating platform to control the cable retraction and extension, so as to realize the release and recovery of the unmanned underwater vehicle. The cable is internally provided with a power supply wire and an optical fiber communication link, which supports real-time power transmission of the underwater vehicle and TCP / IP protocol communication. The cable adopts an armored optical composite cable.

[0055] Among them, a main control cabin is arranged inside the floating platform, including a multi-core data processing center, a multi-source data fusion server and a dual-redundancy power system; the multi-core data processing center is equipped with a Xeon D-2143IT processor and is connected to each sensor interface through a PCIe 3.0 bus; the multi-source data fusion server runs a federated Kalman filter and integrates satellite positioning, inertial navigation and sonar data; the dual-redundancy power system includes a lithium-ion battery and a hydrogen fuel cell connected in parallel, and is connected to an intelligent power distribution unit through a DC / DC converter to realize grid-connected power supply and fault switching.

[0056] The main control cabin is provided with a navigation and positioning system, including:

[0057] A dual-frequency GNSS receiver, which outputs real-time kinematic carrier phase differential (RTK) positioning data to the multi-source data fusion server;

[0058] An optical fiber inertial navigation unit, which is internally provided with a laser gyroscope and a quartz accelerometer, and sends an attitude reference correction signal to the unmanned underwater vehicle every hour;

[0059] A multi-beam sonar, which is used to generate a seabed terrain grid map and transmits it to the multi-source data fusion server through an optical fiber;

[0060] The fusion server realizes terrain matching positioning through an iterative closest point (ICP) algorithm and outputs a centimeter-level fusion positioning result of the platform.

[0061] A satellite communication tower is arranged on the floating platform, including:

[0062] The satellite antenna array uses a Ka / Ku dual-band adjustable beam antenna and is connected to the communication controller of the main control cabin through an azimuth-elevation two-axis pan-tilt, receiving measurement and control instructions from the onshore control center and transmitting data back to the relay satellite.

[0063] The meteorological sensor group includes an anemometer and wind vane, an atmospheric pressure sensor, and a temperature and humidity probe, and accesses the multi-source data fusion server of the main control cabin through the RS485 bus, collecting meteorological data in real time and generating warning signals.

[0064] The phased array microwave antenna uses the C band and the TDMA time division multiple access protocol. The phased array microwave antenna establishes a self-organizing communication link with the mother ship or adjacent platforms under the scheduling of the main control cabin, and relays the surface signals of the mother ship's underwater acoustic communication system.

[0065] The unmanned submersible is provided with a data communication system, including:

[0066] The cable communication interface exchanges instructions with the main control cabin through the RS422 protocol.

[0067] The acoustic transducer array is in the 8 - 15 kHz frequency band and relays with the mother ship's underwater acoustic communication.

[0068] The data processing unit has an Arm+FPGA architecture and runs an adaptive channel equalization algorithm.

[0069] The data communication system supports a TCP / IP protocol stack optimized for underwater acoustic channel delay, with the RTO threshold set to 500 ms, and has data compression and encryption functions.

[0070] The unmanned submersible is provided with a positioning and perception system to improve the platform positioning accuracy, including:

[0071] The panoramic infrared camera is set up in cooperation with a laser rangefinder to achieve night optical positioning.

[0072] The ultra-short baseline beacon receives multi-beam sonar positioning signals and jointly calculates position information.

[0073] The MEMS inertial module periodically receives fiber optic inertial navigation correction signals from the main control cabin.

[0074] The Doppler log combines with the terrain grid map of the main control cabin for SLAM simultaneous localization and mapping.

[0075] Wet-mateable connectors and magnetic coupling automatic alignment mechanisms are provided on the floating platform and the unmanned submersible to achieve efficient connection of cables.

[0076] The present invention discloses a control method for an unmanned submersible, including the following steps:

[0077] S1: Job Instruction Issuance and Initialization

[0078] S1.1 Instruction Reception and Verification. The onshore control center sends encrypted task instructions to the floating platform through the satellite communication tower. The multi-core data processing center in the main control cabin of the floating platform parses the instruction format, verifies the digital signature and operation authority. The instructions that pass the verification are encapsulated as encrypted data packets through the cable communication interface and sent to the unmanned submersible through a special cable.

[0079] S1.2 Power Supply Startup. The electric winch mechanism on the floating platform releases the cable according to the preset operation depth, and the dual-redundancy power system starts dynamic power distribution. The cable transmits 600V DC high voltage, and the DC / DC conversion module at the submersible end outputs adjustable voltages of 24V / 48V and activates the overcurrent protection mechanism.

[0080] S2: Multi-source Navigation and Positioning Execution

[0081] S2.1 Positioning Mode Selection. Open sea area mode: Enable the dual-frequency GNSS receiver and fiber optic inertial unit to generate the initial trajectory. Complex water area mode: When the satellite signal strength is lower than -130dBm, switch to multi-beam sonar terrain matching and ultra-short baseline acoustic positioning.

[0082] S2.2 Data Fusion Processing. The multi-source data fusion server executes the extended Kalman filter algorithm to integrate the following data:

[0083] The angular velocity of the MEMS inertial module, sampling rate 200Hz;

[0084] The velocity vector of the Doppler log, accuracy ±0.1m / s;

[0085] The relative position parameters of the laser rangefinder, measurement range 50m, error ±2cm;

[0086] Output a centimeter-level combined positioning result and feedback it to the control center in real time through the cable.

[0087] S3: Job Data Acquisition and Communication Relay

[0088] S3.1 Main Communication Link Operation. The cable channel adopts the QAM-256 modulation method to establish a full-duplex communication link. The data processing unit of the submersible compresses the collected data, including sonar, optical, and environmental data, using LZ4, attaches a timestamp, and then transmits it.

[0089] S3.2 Emergency Communication Trigger. When the cable is detected to be disconnected, the acoustic transducer array activates OFDM-modulated acoustic wave communication and enables forward error correction coding. The floating platform forwards the emergency data packet to the mother ship through the satellite communication tower and simultaneously activates the acoustic positioning beacon to guide the recovery.

[0090] S4: Task Termination and Recovery Control

[0091] S4.1 Recovery Instruction Response. After the submersible receives the termination instruction, it immediately seals the current mission data, and the inertial navigation module switches to the high-precision mode; generates a return path by combining the Doppler log data;

[0092] S4.2 Cable Cooperative Recovery. When approaching the floating platform, the wet-mate connector activates the electromagnetic guidance field; the electric winch mechanism adjusts the cable-receiving speed using the fuzzy PID algorithm; the laser rangefinder detects the position deviation of the submersible in real time, and the infrared thermal imaging system monitors the temperature of the connector.

[0093] S4.3 Fixing and Returning. The main control cabin of the floating platform plans the water surface return path, and controls the platform to return autonomously by integrating the ocean current prediction data and GNSS track tracking.

[0094] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A collaborative operation system for a floating platform of an unmanned underwater vehicle, characterized in that, It includes a floating platform and an unmanned submersible, which are connected by a cable. An electric winch mechanism is arranged inside the floating platform to control the cable retraction and extension, so as to release and recover the unmanned submersible. The cable is internally provided with a power supply wire and an optical fiber communication link to support real-time power transmission of the submersible and TCP / IP protocol communication. The cable adopts an armored optical and electrical composite cable.

2. The floating platform collaborative operation system for an unmanned underwater vehicle according to claim 1, wherein A main control cabin is arranged inside the floating platform, including a multi-core data processing center, a multi-source data fusion server, and a dual-redundancy power system; the multi-core data processing center is connected to each sensor interface; the multi-source data fusion server runs a filter to integrate satellite positioning, inertial navigation, and sonar data; the dual-redundancy power system is connected to an intelligent power distribution unit through a converter for grid-connected power supply and fault switching.

3. The floating platform collaborative operation system for an unmanned underwater vehicle according to claim 2, characterized in that, The main control cabin is equipped with a navigation and positioning system, including: A dual-frequency GNSS receiver, which outputs real-time kinematic carrier-phase differential positioning data to the multi-source data fusion server; An optical fiber inertial unit, which sends an attitude reference correction signal to the unmanned submersible; A multi-beam sonar, which is used to generate a seabed terrain grid map and transmits it to the multi-source data fusion server through an optical fiber; The fusion server realizes terrain matching positioning and outputs a centimeter-level fusion positioning result of the platform.

4. The floating platform collaborative operation system for an unmanned underwater vehicle according to claim 1, wherein, A satellite communication tower is arranged on the floating platform, including: A satellite antenna array, which is connected to the communication controller of the main control cabin, receives the measurement and control instructions from the onshore control center, and transmits data back to the relay satellite; A meteorological sensor group, including an anemometer and wind vane, an atmospheric pressure sensor, and a temperature and humidity probe, which is connected to the multi-source data fusion server of the main control cabin to collect meteorological data in real time and generate early warning signals; A phased array microwave antenna, which establishes a self-organizing network communication link with the mother ship or adjacent platform under the dispatching of the main control cabin, and the phased array microwave antenna relays the surface signal of the mother ship's underwater acoustic communication system.

5. The floating platform cooperative operation system for an underwater vehicle according to claim 1, wherein The unmanned submersible is provided with a data communication system, including: A cable communication interface, which interacts with the main control cabin for instructions; An acoustic transducer array, which supports underwater acoustic communication relay with the mother ship; A data processing unit, which runs an adaptive channel equalization algorithm; The data communication system supports the TCP / IP protocol stack and has data compression and encryption functions.

6. The floating platform collaborative operation system for an unmanned underwater vehicle according to claim 5, wherein, The unmanned submersible is provided with a positioning and perception system to improve the platform positioning accuracy, including: A panoramic infrared camera: arranged in cooperation with a laser rangefinder to realize nighttime optical positioning; An ultra-short baseline beacon, which receives the multi-beam sonar positioning signal and jointly calculates the position information; A MEMS inertial module, which periodically receives the optical fiber inertial correction signal from the main control cabin. A Doppler log, which performs SLAM simultaneous localization and mapping in combination with the seabed terrain grid map of the main control cabin.

7. The floating platform cooperative operation system for an unmanned submersible vehicle according to claim 1, characterized in that Wet-mateable connectors and magnetic coupling automatic alignment mechanisms are arranged on the floating platform and the unmanned submersible.

8. A control method for an unmanned underwater vehicle, characterized in that, It includes the following steps: S1: Issuing and initializing operation instructions S1.1 Instruction Receiving and Verification: The onshore control center sends encrypted mission instructions to the floating platform through the satellite communication tower. The multi-core data processing center in the main control cabin of the floating platform parses the instruction format, verifies the digital signature and operation permissions. The instructions that pass the verification are encapsulated as encrypted data packets through the cable communication interface and sent to the underwater vehicle through the cable. S1.2 Power Supply Startup: The electric winch mechanism on the floating platform releases the cable according to the preset operation depth, and the dual-redundant power system starts dynamic power distribution. S2: Multi-source Navigation and Positioning Execution S2.1 Positioning Mode Selection: Open sea area mode: Enable the dual-frequency GNSS receiver and fiber optic inertial unit to generate the initial trajectory; Complex water area mode: Switch to multi-beam sonar terrain matching and ultra-short baseline acoustic positioning. S2.2 Data Fusion Processing: The multi-source data fusion server integrates the following data: The angular velocity of the MEMS inertial module; The velocity vector of the Doppler log; The relative position parameters of the laser rangefinder; Output centimeter-level combined positioning results and feedback them to the control center in real time through the cable. S3: Operation Data Acquisition and Communication Relay S3.1 Main Communication Link Operation: Establish a full-duplex communication link. The underwater vehicle data processing unit performs LZ4 compression on the collected data and transmits it after attaching a time stamp. S3.2 Emergency Communication Trigger: When the cable is detected to be disconnected, the acoustic transducer array activates OFDM modulated acoustic wave communication and enables forward error correction coding. The floating platform forwards the emergency data packet to the mother ship through the satellite communication tower and simultaneously activates the acoustic positioning beacon to guide the recovery. S4: Mission Termination and Recovery Control S4.1 Recovery Instruction Response: After receiving the termination instruction, the underwater vehicle immediately seals the current mission data in the waterproof memory, and the inertial navigation module switches to the high-precision mode. Generate a return path by combining the Doppler log data. S4.2 Cable Cooperative Recovery: When approaching the floating platform at a close distance, the wet-mate connector activates the electromagnetic guiding field. The electric winch mechanism adjusts the cable retraction speed. The laser rangefinder detects the position offset of the underwater vehicle in real time, and the infrared thermal imaging system monitors the temperature of the connector. S4.3 Fixing and Returning: The main control cabin of the floating platform plans the water surface return path, integrates the sea current prediction data and GNSS track tracking, and controls the platform to return autonomously.

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