Sensor calibration test system and calibration test method for UUV intelligent perception

Abstract

The invention discloses a sensor calibration test system and a calibration test method for UUV intelligent perception, belongs to the technical field of underwater robots, and aims to solve the problems that the capability evaluation of the UUV intelligent perception system is difficult to realize, the credibility, the reliability and the accuracy are poor, and the UUV intelligent perception system cannot be fully matched with the actual application environment and cannot be optimized due to the existing underwater multi-mode comprehensive perception calibration mode. And the development and improvement of the intelligence of the UUV are directly influenced. The sensor calibration test system can simulate various motion modes of the underwater vehicle and the underwater target in navigation, so that a large number of calibration samples are formed, the three-dimensional imaging sonar, the underwater camera and the magnetometer can realize calibration of working parameters based on the underwater acousto-optic magnetic comprehensive beacon arranged on the underwater target, and the calibration precision is improved. After sensor calibration is completed, the system can be used for testing the calibration effect of the sensor, and the number of times and cost of sea test calibration are effectively reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and particularly relates to a sensor calibration test system and a calibration test method for UUV intelligent perception. Background Art

[0002] According to the current domestic and international research on multi-modal integrated perception for UUV missions, the current evaluation of perception ability is mainly qualitative or roughly quantitative, lacking accurate evaluation means. Considering the future development trend of multi-sensor fusion, we need to seize the technological high ground. However, there is currently a lack of effective multi-modal sensor calibration and verification methods, which has become a bottleneck restricting the development of research work. For some UUV detection tasks with high requirements for perception accuracy underwater, such as three-dimensional reconstruction of underwater scenes, due to the lack of accurate underwater test and verification conditions, it is difficult to carry out accurate and effective verification tests, resulting in the perception system only being able to achieve possible "applicability" rather than "optimality" in performance. There is an urgent need to improve the accurate relative pose measurement ability between the UUV platform and the test target and the ability to obtain intelligent perception baseline information based on sensors such as acoustic, optical, and magnetic sensors, reveal the mechanisms and mathematical models of different detection processes in the underwater environment, realize the accurate calibration of the working parameters of the acoustic / optical / magnetic sensors carried by the UUV, and the accurate quantitative evaluation of the perception ability of the UUV for typical target objects, so as to improve the research level of underwater multi-sensor fusion and new qualitative bionic detection methods.

[0003] In the intelligent perception system test in the pool and actual lake (sea) environment, it is difficult to accurately measure the pose of the test target and the UUV platform. There are problems such as limited capabilities of existing measurement means, serious interference, large introduced errors, high test costs, and low efficiency. At the same time, there is currently a lack of perfect measurement means for the full-space characteristics of sound, light, and electromagnetic fields of typical underwater targets, making it difficult to evaluate the ability of the UUV intelligent perception system, with poor credibility, reliability, and accuracy. The intelligent perception system cannot fully match the actual application environment and complete optimization, directly affecting the development and improvement of the UUV intelligence. Summary of the Invention

[0004] In view of this, the invention provides a sensor calibration test system and a calibration test method for UUV intelligent perception, which can accurately calibrate a variety of sensors carried by the UUV.

[0005] To solve the above technical problems, the technical solution adopted by the invention is as follows:

[0006] A sensor calibration test system for intelligent perception of UUVs, comprising a modular extended floating platform, a pose adjustment mechanism, a UUV simulation carrying platform, an underwater detection mechanism, an underwater target, an intelligent control and data acquisition mechanism, and a power supply mechanism; the modular extended floating platform floats in water and is used to support the pose adjustment mechanism, the UUV simulation carrying platform, the underwater detection mechanism, the underwater target, the intelligent control and data acquisition mechanism, and the power supply mechanism; there are N + 1 pose adjustment mechanisms, and the N + 1 pose adjustment mechanisms are installed on the modular extended floating platform and are in water; there are N underwater targets, each underwater target corresponds to a pose adjustment mechanism and is connected to the corresponding pose adjustment mechanism, and the pose adjustment mechanism connected to the underwater target is controlled by the intelligent control and data acquisition mechanism to drive the underwater target to move according to a preset trajectory, movement speed, and pose; another pose adjustment mechanism is connected to the UUV simulation carrying platform and is also controlled by the intelligent control and data acquisition mechanism to drive the UUV simulation carrying platform to change its pose so as to adjust the position and direction of the underwater detection mechanism, realize the omnidirectional detection of the underwater target, and realize the tracking of the underwater target. The underwater detection mechanism is installed on the UUV simulation carrying platform to collect information of the underwater target, and the underwater detection mechanism transmits the collected information to the intelligent control and data acquisition mechanism. The intelligent control and data acquisition mechanism calibrates the working parameters of the sensors in the underwater detection mechanism based on standard working parameters to complete the calibration of the sensors; the power supply mechanism provides power for the pose adjustment mechanism, the underwater detection mechanism, and the intelligent control and data acquisition mechanism and is responsible for energy distribution.

[0007] Further, the modular extended floating platform includes a bottom frame and floating plates. There are multiple floating plates and they are spliced side by side to form a floating support platform that can float on the water surface. The pose adjustment mechanism is installed below the floating support platform; the bottom frame is installed below the floating support platform and is in water.

[0008] Further, mechanical installation interfaces are provided at the edges of each floating plate, and two adjacent floating plates are detachably connected via the mechanical installation interfaces.

[0009] Further, the area of each floating plate is 10 - 15m 2 , and the weight that a single floating plate can bear is 300 kg - 600 kg.

[0010] Further, an underwater monitoring camera is respectively arranged at the four bottom corners of the bottom frame.

[0011] Further, when the underwater target is used as a calibration sample, an underwater acoustic, optical, and magnetic integrated beacon is provided on the underwater target, and the underwater acoustic, optical, and magnetic integrated beacon is used to simulate the underwater target to emit acoustic waves, optical signals, and magnetic field signals.

[0012] Furthermore, the underwater detection mechanism includes a three-dimensional imaging sonar, an underwater camera, and a magnetometer. The three-dimensional imaging sonar is used to obtain the sonar image of the underwater target. The underwater camera obtains the optical image of the underwater target based on the optical signal emitted by the underwater integrated acousto-optic-magnetic beacon. The magnetometer detects and senses the position and magnetic field characteristics of the underwater target based on the magnetic field signal emitted by the underwater integrated acousto-optic-magnetic beacon.

[0013] Furthermore, the system further includes a near-bottom multi-beam sounding mechanism and a sidescan sonar mechanism. The near-bottom multi-beam sounding mechanism is installed on the UUV simulation carrier platform and is used to obtain simulated seabed terrain data. The sidescan sonar mechanism is installed on the UUV simulation carrier platform and is used to obtain three-dimensional data of the seabed terrain and underwater targets.

[0014] Another technical solution adopted by the present invention is:

[0015] A sensor calibration and testing method for UUV intelligent perception is realized by using a sensor calibration and testing system for UUV intelligent perception. The calibration and testing process is as follows:

[0016] S1, Equipment assembly and sensor calibration: Install the pose adjustment mechanism, intelligent control data acquisition mechanism, and power supply mechanism onto the modular extended floating platform. Install the UUV simulation carrier platform and the underwater target onto the corresponding pose adjustment mechanisms, and set the initial pose. Calibrate the three-dimensional imaging sonar, underwater camera, and magnetometer, and then synchronize the clocks of the three-dimensional imaging sonar, underwater camera, and magnetometer through the PTP / NTP protocol. Install the three-dimensional imaging sonar, underwater camera, and magnetometer onto the UUV simulation carrier platform, install the underwater integrated acousto-optic-magnetic beacon onto the underwater target, electrically connect the intelligent control data acquisition mechanism to the pose adjustment mechanism and the underwater detection mechanism respectively, and electrically connect the power supply mechanism to the intelligent control data acquisition mechanism, pose adjustment mechanism, and underwater detection mechanism respectively. Place the sensor calibration and testing system for UUV intelligent perception in water;

[0017] S2, Dynamic data acquisition: Set the movement trajectories, movement speeds, and movement postures of the UUV simulation carrier platform and the underwater target via the intelligent control data acquisition mechanism. The intelligent control data acquisition mechanism controls the UUV simulation carrier platform and the underwater target to move respectively according to their pre-set movement trajectories, movement speeds, and movement postures through the pose adjustment mechanism. The three-dimensional imaging sonar emits sound waves and receives the signals reflected by the underwater target, calculates the position and shape of the underwater target, and thus forms a sonar image. The underwater camera adaptively frames according to the movement speed and takes the optical image of the underwater target based on the optical signal emitted by the underwater integrated acousto-optic-magnetic beacon. The magnetometer continuously collects the magnetic field data emitted by the underwater integrated acousto-optic-magnetic beacon and records the magnetic characteristics of the underwater target;

[0018] S3, Data Synchronization and Storage: Synchronize the timestamps of the data marked by the three-dimensional imaging sonar, underwater camera, and magnetometer.

[0019] S4, Data Processing: The three-dimensional imaging sonar, underwater camera, and magnetometer respectively transmit the continuously acquired data to the intelligent control data acquisition mechanism. The intelligent control data acquisition mechanism respectively filters, denoises, and converts the format of the original data acquired by the three-dimensional imaging sonar, underwater camera, and magnetometer. The pose adjustment mechanism outputs the precise pose and actual three-dimensional coordinates of the UUV simulation platform and the underwater target to the intelligent control data acquisition mechanism in real time.

[0020] S5, Sensor Calibration: The intelligent control data acquisition mechanism compares the pose and three-dimensional coordinates of the underwater target output by the pose adjustment mechanism with the data acquired by the three-dimensional imaging sonar, underwater camera, and magnetometer, and then calibrates the working parameters of the three-dimensional imaging sonar, underwater camera, and magnetometer respectively. When the three-dimensional imaging sonar, underwater camera, and magnetometer need to be calibrated repeatedly, adjust the movement trajectory, movement speed, or movement posture of the UUV simulation platform and the underwater target, and repeat steps S2 to S5 until the calibration results of the sensors meet the usage requirements.

[0021] S6, Sensor Testing: Remove the underwater acoustic-optic-magnetic integrated beacon from the underwater target. Through the intelligent control data acquisition mechanism, set the movement trajectory, movement speed, and movement posture of the UUV simulation platform and the underwater target. The intelligent control data acquisition mechanism controls the UUV simulation platform and the underwater target to move respectively according to their pre-set movement trajectories, movement speeds, and movement postures through the pose adjustment mechanism. The three-dimensional imaging sonar emits sound waves and receives the signals reflected by the underwater target, calculates the position and shape of the underwater target, and thus forms a sonar image. The underwater camera adapts the frame rate according to the movement speed and takes an optical image of the underwater target. The magnetometer continuously acquires the magnetic field data emitted by the underwater target and records the magnetic characteristics of the underwater target. Synchronize the timestamps of the data marked by the three-dimensional imaging sonar, underwater camera, and magnetometer. The three-dimensional imaging sonar, underwater camera, and magnetometer respectively transmit the continuously acquired data to the intelligent control data acquisition mechanism. The intelligent control data acquisition mechanism respectively filters, denoises, and converts the format of the original data acquired by the three-dimensional imaging sonar, underwater camera, and magnetometer. The pose adjustment mechanism outputs the precise pose and actual three-dimensional coordinates of the UUV simulation platform and the underwater target to the intelligent control data acquisition mechanism in real time. The intelligent control data acquisition mechanism compares the pose and three-dimensional coordinates of the underwater target output by the pose adjustment mechanism with the data acquired by the three-dimensional imaging sonar, underwater camera, and magnetometer to complete the testing of the three-dimensional imaging sonar, underwater camera, and magnetometer.

[0022] Further, in S1, the sensor calibration test system for UUV intelligent perception is placed in a test water tank, a lake, or the sea for testing. Among them, the length, width, and depth of the test water tank are 30m, 15m, and 10m respectively.

[0023] The beneficial effects of the present invention compared with the prior art are as follows:

[0024] 1. The sensor calibration test system of the present invention can simulate various motion modes of an underwater vehicle and an underwater target during navigation, thereby forming a large number of calibration samples. The three-dimensional imaging sonar, underwater camera, and magnetometer can achieve the calibration of working parameters based on the underwater acoustic, optical, and magnetic comprehensive beacon set on the underwater target. After the sensor calibration is completed, the system can also be used to test the calibration effect of the sensors, effectively reducing the number and cost of sea trial calibrations.

[0025] 2. The present invention uses a pose adjustment mechanism to adjust the motion trajectory, motion speed, and motion pose of the UUV simulation platform and the underwater target, so as to realize the tracking and detection of the underwater target by the underwater vehicle. The intelligent control data acquisition mechanism compares the real pose and three-dimensional coordinates of the underwater target output by the pose adjustment mechanism with the data collected by the three-dimensional imaging sonar, underwater camera, and magnetometer, thereby calibrating the working parameters of the three-dimensional imaging sonar, underwater camera, and magnetometer respectively.

[0026] 3. The modular extended floating platform of the present invention adopts a modular design and can be assembled and installed according to requirements to form test platforms of different sizes, so that it can be quickly assembled and recovered in the test environment.

[0027] 4. The present invention sets the underwater acoustic, optical, and magnetic comprehensive beacon on the underwater target, thereby obtaining the full-space characteristics of sound, light, and electromagnetic fields of typical targets, which can accurately calibrate various sensors carried by the UUV, increase the multi-modal comprehensive perception ability of the underwater unmanned vehicle, and further increase the detection ability of the underwater unmanned vehicle for typical targets in the future. Description of the Drawings

[0028] The drawings, as part of this application, are used to provide a further understanding of the present invention.

[0029] Figure 1 It is a schematic structural diagram of a sensor calibration test system for UUV intelligent perception of the present invention.

[0030] Figure 2 It is a flow chart of a sensor calibration test for UUV intelligent perception of the present invention.

[0031] Description of the reference numerals: 1 - modular extended floating platform; 1-1 bottom frame; 1-2 floating board; 2 - pose adjustment mechanism; 3 - UUV simulation carrying platform; 4 - underwater monitoring camera; 5 - underwater target; 6 - intelligent control data acquisition mechanism; 7 - power supply mechanism. Detailed implementation manners

[0032] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Figure 1 The structural schematic diagram of a sensor calibration test system for UUV intelligent perception according to this embodiment is shown, as Figure 1 shown. The sensor calibration test system includes a modular extended floating platform 1, a pose adjustment mechanism 2, a UUV simulation carrying platform 3, an underwater detection mechanism, an underwater target 5, an intelligent control data acquisition mechanism 6, and a power supply mechanism 7. The modular extended floating platform 1 floats in water and is used to support the pose adjustment mechanism 2, the UUV simulation carrying platform 3, the underwater detection mechanism, the underwater target 5, the intelligent control data acquisition mechanism 6, and the power supply mechanism 7. There are N + 1 pose adjustment mechanisms 2. The N + 1 pose adjustment mechanisms 2 are installed on the modular extended floating platform 1 and are in water. There are N underwater targets 5, where 1 ≤ N ≤ 5. Each underwater target 5 corresponds to a pose adjustment mechanism 2 and is connected to the corresponding pose adjustment mechanism 2. The pose adjustment mechanism 2 connected to the underwater target 5 is controlled by the intelligent control data acquisition mechanism 6, driving the underwater target 5 to move according to a preset trajectory, movement speed, and posture. The underwater target 5 is used to simulate an underwater object to be detected and serves as a sample for calibrating or testing the underwater detection mechanism. There is one UUV simulation carrying platform 3. The remaining one pose adjustment mechanism 2 is connected to the UUV simulation carrying platform 3 and is also controlled by the intelligent control data acquisition mechanism 6. The pose adjustment mechanism 2 changes the pose of the UUV simulation carrying platform 3 to adjust the position and direction of the underwater detection mechanism, realizing all-round detection of the underwater target. At the same time, it controls the UUV simulation carrying platform 3 to track the underwater target. The UUV simulation carrying platform 3 is used to simulate an underwater vehicle. The underwater detection mechanism is installed on the UUV simulation carrying platform 3 to collect information of the underwater target 5 multiple times. The underwater detection mechanism transmits the collected information to the intelligent control data acquisition mechanism 6. The intelligent control data acquisition mechanism 6 calibrates the working parameters of the sensors in the underwater detection mechanism based on standard working parameters to complete the calibration of the sensors. The power supply mechanism 7 provides a stable power supply for the pose adjustment mechanism 2, the underwater detection mechanism, and the intelligent control data acquisition mechanism 6 and is responsible for energy distribution.

[0034] As Figure 1As shown in the figure, the modular extended floating platform 1 of this embodiment is composed of a bottom frame 1-1 and floating plates 1-2. There are multiple floating plates 1-2, which are spliced side by side to form a floating support platform that can float on the water surface. The pose adjustment mechanism 2 is installed below the floating support platform, and corresponding equipment can be arranged on the floating support platform for testers to move. Mechanical installation interfaces are provided at the edges of each floating plate 1-2, so that two adjacent floating plates 1-2 are detachably connected, facilitating the replacement of the floating plates 1-2. That is, the modular extended floating platform 1 can be assembled according to requirements to form test platforms of different sizes, so that modular assembly and recovery can be quickly carried out in the test environment. Among them, the area of each floating plate 1-2 is 10-15m 2 , and the weight that a single floating plate 1-2 can bear is 300 kg - 600 kg and it can remain afloat. The sensor calibration test system of this embodiment can be calibrated and tested in a pool, and can also be carried out on a lake (sea). Since it is impossible to completely avoid wind and waves during a lake (sea) test, and the sensor calibration test system needs to work stably under certain sea conditions. If the anti-impact ability is poor, it may cause the displacement of the sensor, that is, the pose of the three-dimensional imaging sonar and the underwater camera deviates, resulting in distorted measurement data. It may also cause damage to the pose adjustment mechanism 2 and deformation of the floating plate 1-2. Therefore, a single floating plate 1-2 of this embodiment is designed to have the anti-impact ability under sea conditions of level 3-4 to ensure the usability of the sensor calibration test system of this embodiment in the real marine environment.

[0035] As Figure 1 shown in the figure, the bottom frame 1-1 of this embodiment is installed below the floating support platform and is in the water. An underwater monitoring camera 4 is respectively arranged at the four bottom corners of the bottom frame 1-1. The four underwater monitoring cameras 4 are used to monitor the whole process of sensor calibration and testing, providing video evidence for the whole calibration and testing process. In addition, the buoyancy of the modular extended floating platform 1 can be provided by the bottom frame 1-1.

[0036] The underwater target 5 in this embodiment can be used as a calibration sample for calibrating the working parameters of sensors, and can also be used as a test sample to test the calibration effect of the calibrated sensors. When the underwater target 5 is used as a calibration sample, the underwater target 5 is provided with an underwater acoustic-optic-magnetic integrated beacon, which is used to simulate the acoustic, optical and magnetic field signals emitted by the underwater target 5, and the generated signals are relatively strong, suitable for accurately calibrating sensors. Among them, the range of the light source intensity emitted by the underwater acoustic-optic-magnetic integrated beacon is 200-6000 lux, the range of the sound source intensity is 5 dB-80 dB, the range of the magnetic source intensity is 0.01-1 T, and the maximum deviation between the actual installation position and the theoretical design position of the underwater acoustic-optic-magnetic integrated beacon is not higher than 2 cm. In addition, the underwater target 5 is equipped with an underwater acoustic-optic-magnetic integrated beacon, which can simulate the acoustic, optical, electromagnetic characteristics of typical targets (shipwrecks, pipelines, mineral deposits, biota, etc.), so as to accurately calibrate a variety of sensors carried by the UUV, increase the multi-modal comprehensive perception ability of the underwater unmanned vehicle, and further increase the subsequent detection ability of the underwater unmanned vehicle for typical targets.

[0037] The underwater detection mechanism in this embodiment includes a 3D imaging sonar, an underwater camera and a magnetometer. The 3D imaging sonar calculates the position and shape of the underwater target 5 by emitting sound waves and receiving reflected signals, so as to form a sonar image, which is mainly used to detect the shape, distance, depth and other information of the underwater target 5 at a long distance. The underwater camera collects the optical image of the underwater target 5 based on the optical signal emitted by the underwater acoustic-optic-magnetic integrated beacon. The 3D imaging sonar and the underwater camera can help the underwater vehicle identify and track the target. The magnetometer detects and senses the position of the underwater target 5 based on the magnetic field signal emitted by the underwater acoustic-optic-magnetic integrated beacon. In practical applications, it can also be used for the identification and classification of the underwater target 5. Among them, the sensitivity of the magnetometer is not less than 0.005 nT. The sensitivity of the underwater camera to measure the underwater light intensity environment is not less than 0.001 lux. Therefore, through the design of the underwater acoustic-optic-magnetic integrated beacon, various detection objects that the UUV may encounter in the real underwater environment, such as shipwrecks, pipelines, mineral deposits, biota, etc., can be simulated, so as to realize the measurement of the acoustic, optical and electromagnetic full-space characteristics of the underwater target 5, and based on this measurement, the working parameters of the 3D imaging sonar, underwater camera and magnetometer are calibrated. After the working parameters of the sensors are calibrated, various types of underwater targets 5 can be tested. It should be noted that the sensor calibration test system in this embodiment also includes measuring instruments such as CTD and transmissometer, which are used to measure parameters such as the light transmittance, temperature, salinity of seawater or lake water, and based on the measured parameters, the errors of the 3D imaging sonar and the underwater camera are corrected.

[0038] The pose adjustment mechanism 2 in this embodiment is mainly used to adjust the motion trajectories, motion speeds, and motion postures of the UUV simulation platform 3 and the underwater target 5. The motion postures include forward and backward movement, lateral rolling, left and right lateral movement, longitudinal rolling, up and down diving and floating, and heading adjustment. That is, the UUV simulation platform 3 and the underwater target 5 in this embodiment have six degrees of freedom. Among them, the adjustable pitch angle range of the UUV simulation platform 3 and the underwater target 5 is -90° to 90°, and the roll angle range is -90° to 90°. Different motion postures are combined with different motion speeds and motion trajectories, so that different calibration samples are formed for the underwater target 5, thereby realizing multiple calibrations of the working parameters of the sensor and completing the calibration of the sensor. Among them, the motion speed that the pose adjustment mechanism 2 can control is 0 to 2 m / s, and the trajectory tracking control accuracy is 5 cm. That is, when the pose adjustment mechanism 2 drives the UUV simulation platform 3 or the underwater target 5 to move along the preset trajectory, the maximum deviation between the actual position and the theoretical target position of the UUV simulation platform 3 or the underwater target 5 is 5 cm, thus ensuring the calibration result of the sensor.

[0039] The intelligent control and data acquisition mechanism 6 in this embodiment includes a control module, a data acquisition processor, and a digital twin module. The control module is used to control the operation of the underwater detection mechanism and the pose adjustment mechanism. The data acquisition processor receives the data transmitted by the pose adjustment mechanism 2 and the underwater detection mechanism in real time, preprocesses and stores it, and then transmits the processed data to the control module. The control module then adjusts the motion trajectories, motion speeds, and motion postures of the UUV simulation platform 3 and the underwater target 5 through the pose adjustment mechanism 2, and calibrates the working parameters of the sensor at the same time. Finally, it is displayed and output at the shore end through digital twin and virtual reality methods.

[0040] The sensor calibration and testing system in this embodiment further includes a near-bottom multi-beam sounding mechanism and a side-scan sonar mechanism for obtaining the seabed topography and target characteristics. The near-bottom multi-beam sounding mechanism is installed on the UUV simulation platform 3 to obtain the simulated seabed topography data below, so as to be able to establish an underwater terrain model, which mainly includes four parts: a multi-beam transmitting array, a multi-beam receiving array, a sonar processing unit, and a surface control unit. The high-resolution sounding side-scan sonar is installed on the UUV simulation platform 3 and can obtain a large range of seabed topography and target data. It adopts the design of multiple receiving line arrays and uses coherent technology to measure the arrival angle of the echo, so that the seabed topography and geomorphology results can be obtained at the same time. The system composition includes 2 ten-thousand-meter BSSS digital transducers and 1 acoustic electronics cabin. Among them, the acoustic electronics cabin is mainly used for functions such as power supply, control, data processing, and storage, including 2 1-meter-long BSSS transducers and 1 acoustic electronics cabin, and also includes a set of commercial data post-processing software.

[0041] It can be seen that through the sensor calibration test system of this embodiment, various motion modes of the underwater vehicle and the underwater target 5 during navigation can be simulated, thus forming a large number of calibration samples. Based on the underwater acoustic-optic-magnetic comprehensive beacon set on the underwater target 5, the three-dimensional imaging sonar, underwater camera, and magnetometer can achieve the calibration of working parameters. After the sensor calibration is completed, the system can also be used to test the calibration effect of the sensor.

[0042] Embodiment 2:

[0043] As Figure 2 shown, this embodiment provides a sensor calibration test method for UUV intelligent perception. The calibration process is as follows:

[0044] S1. Equipment assembly and sensor calibration: Establish an experimental pool or directly assemble the modular extended floating platform 1 on the (lake) sea. When the sensor calibration test system of this embodiment is calibrated or tested in the experimental pool, the length, width, and depth of the established pool are 30m, 15m, and 10m respectively. In this way, the maximum movement range of the UUV simulation platform 3 and the underwater target 5 is 30m×15m×10m. Install the pose adjustment mechanism 2, intelligent control and data acquisition mechanism 6, and power supply mechanism 7 on the floating support platform. Install the UUV simulation platform 3 and the underwater target 5 on the corresponding pose adjustment mechanisms 2, and set the initial pose, including the underwater depth and horizontal position, etc.; calibrate the three-dimensional imaging sonar, underwater camera, and magnetometer. Among them, perform zero-offset correction on the three-dimensional imaging sonar, perform white balance adjustment on the underwater camera, and measure the background noise of the magnetometer; then synchronize the clocks of the three-dimensional imaging sonar, underwater camera, and magnetometer through the PTP / NTP protocol (accuracy ≤ 1μs); install the three-dimensional imaging sonar, underwater camera, and magnetometer on the UUV simulation platform 3, install the underwater acoustic-optic-magnetic comprehensive beacon on the underwater target 5, the intelligent control and data acquisition mechanism 6 is electrically connected to the pose adjustment mechanism 2 and the underwater detection mechanism respectively, and the power supply mechanism 7 is electrically connected to the intelligent control and data acquisition mechanism 6, the pose adjustment mechanism 2, and the underwater detection mechanism respectively.

[0045] S2. Dynamic data acquisition: Set the movement trajectory, movement speed, and movement posture of the UUV simulation platform 3 and the underwater target 5 through the intelligent control and data acquisition mechanism 6. The intelligent control and data acquisition mechanism 6 controls the UUV simulation platform 3 and the underwater target 5 to move according to their respective preset movement trajectories, movement speeds, and movement postures through the pose adjustment mechanism 2; the three-dimensional imaging sonar emits sound waves and receives the signals reflected by the underwater target 5, calculates the position and shape of the underwater target 5, and thus forms a sonar image; the underwater camera adaptively adjusts the frame rate according to the movement speed and captures the optical image of the underwater target 5 based on the optical signal emitted by the underwater acoustic-optic-magnetic comprehensive beacon; the magnetometer continuously collects the magnetic field data emitted by the underwater acoustic-optic-magnetic comprehensive beacon and records the magnetic characteristics of the underwater target 5.

[0046] S3, Data Synchronization and Storage: Attach synchronized timestamps to the data collected by the three-dimensional imaging sonar, underwater camera, and magnetometer. Specifically, determine the master clock source: Select a high-precision master clock source (such as GPS, atomic clock, or other precise devices) as the synchronization reference. Timestamp embedding: Each sensor or device needs to have a timestamp function. Whenever a sensor collects data, the system attaches a timestamp to each data point or collection cycle to mark the data collection time. Synchronization signal transmission: Transmit the time signal to each sensor through protocols such as NTP, GPS, PTP, etc. Each sensor adjusts its local clock according to the received time signal to keep it consistent with the master clock. Time error calibration: During the data collection process, the clocks of the sensors may have slight errors (such as drift). The system can periodically calibrate these errors to ensure the accuracy of time synchronization. Error correction can be performed by continuously comparing the difference between the local clock of the sensor and the master clock. Data fusion and calibration: When the data of all sensors are collected, use the time synchronization function to align the data of each sensor according to the timestamps to ensure that the data of different sensors can be fused within the same time window. Data fusion technology can help you integrate the measurement results of multiple sensors and provide a more accurate system output.

[0047] S4, Data Processing: The three-dimensional imaging sonar, underwater camera, and magnetometer respectively transmit the continuously collected data to the intelligent control data acquisition mechanism 6. The intelligent control data acquisition mechanism 6 respectively performs processing such as filtering, denoising, and format conversion on the raw data collected by the three-dimensional imaging sonar, underwater camera, and magnetometer. The pose adjustment mechanism 2 outputs the precise pose of the UUV simulation carrier platform 3 and the underwater target 5 to the intelligent control data acquisition mechanism 6 in real time, where the position accuracy reaches 1 cm and the attitude accuracy reaches 0.5°.

[0048] S5, Sensor Calibration: The intelligent control data acquisition mechanism 6 compares the pose and three-dimensional coordinates of the underwater target 5 output by the pose adjustment mechanism 2 with the data collected by the three-dimensional imaging sonar, underwater camera, and magnetometer, and then calibrates the working parameters of the three-dimensional imaging sonar, underwater camera, and magnetometer respectively to ensure the measurement accuracy and reliability of the above sensors and reduce the errors during the actual use of the underwater detection mechanism.

[0049] S6, When the above sensors need to be calibrated repeatedly, adjust the movement trajectory, movement speed, or movement attitude of the UUV simulation carrier platform 3 and the underwater target 5, and repeat steps S2 to S5 until the calibration results of the sensors meet the usage requirements.

[0050] S7, Sensor Testing: Remove the underwater acoustic-optic-magnetic integrated beacon from the underwater target 5. Set the movement trajectories, movement speeds, and movement postures of the UUV simulation platform 3 and the underwater target 5 via the intelligent control and data acquisition mechanism 6. The intelligent control and data acquisition mechanism 6 controls the UUV simulation platform 3 and the underwater target 5 to move according to their respective pre-set movement trajectories, movement speeds, and movement postures via the pose adjustment mechanism 2. The three-dimensional imaging sonar emits sound waves and receives the signals reflected by the underwater target 5, calculates the position and shape of the underwater target 5, and thus forms a three-dimensional image. The underwater camera adapts the frame rate according to the movement speed and captures the optical image of the underwater target 5. The magnetometer continuously collects the magnetic field data emitted by the underwater target 5 and records the magnetic characteristics of the underwater target 5. The data collected by the three-dimensional imaging sonar, the underwater camera, and the magnetometer are marked with synchronous timestamps. The three-dimensional imaging sonar, the underwater camera, and the magnetometer respectively transmit the continuously collected data to the intelligent control and data acquisition mechanism 6. The intelligent control and data acquisition mechanism 6 respectively filters, denoises, and converts the format of the original data collected by the three-dimensional imaging sonar, the underwater camera, and the magnetometer. The pose adjustment mechanism 2 outputs the accurate poses and actual three-dimensional coordinates of the UUV simulation platform 3 and the underwater target 5 to the intelligent control and data acquisition mechanism 6 in real time. The intelligent control and data acquisition mechanism 6 compares the pose and three-dimensional coordinates of the underwater target 5 output by the pose adjustment mechanism 2 with the data collected by the three-dimensional imaging sonar, the underwater camera, and the magnetometer to complete the testing of the three-dimensional imaging sonar, the underwater camera, and the magnetometer.

[0051] S8, The intelligent control and data acquisition mechanism 6 performs data analysis and performance evaluation according to the calibration results and the underwater target 5 recognition results. The final results are displayed to the operator through a digital twin or virtual reality system for subsequent optimization and decision-making reference after analysis and evaluation.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A sensor calibration and testing system for UUV intelligent perception, characterized in that, It includes a modular extended floating platform, a pose adjustment mechanism, a UUV simulation carrying platform, an underwater detection mechanism, an underwater target, an intelligent control and data acquisition mechanism, and a power supply mechanism; The modular extended floating platform floats in water and is used to support the pose adjustment mechanism, the UUV simulation carrying platform, the underwater detection mechanism, the underwater target, the intelligent control and data acquisition mechanism, and the power supply mechanism; There are N + 1 pose adjustment mechanisms. The N + 1 pose adjustment mechanisms are installed on the modular extended floating platform and are in water; There are N underwater targets, and each underwater target corresponds to a pose adjustment mechanism and is connected to the corresponding pose adjustment mechanism. The pose adjustment mechanism connected to the underwater target is controlled by the intelligent control and data acquisition mechanism, driving the underwater target to move according to a pre-set trajectory, movement speed, and posture; Another pose adjustment mechanism is connected to the UUV simulation carrying platform and is also controlled by the intelligent control and data acquisition mechanism, driving the UUV simulation carrying platform to change its pose to adjust the position and direction of the underwater detection mechanism, realizing the omnidirectional detection of the underwater target and the tracking of the underwater target. The underwater detection mechanism is installed on the UUV simulation carrying platform to collect information of the underwater target. The underwater detection mechanism transmits the collected information to the intelligent control and data acquisition mechanism, and the intelligent control and data acquisition mechanism calibrates the working parameters of the sensors in the underwater detection mechanism based on standard working parameters to complete the calibration of the sensors; The power supply mechanism provides power for the pose adjustment mechanism, the underwater detection mechanism, and the intelligent control and data acquisition mechanism and is responsible for energy distribution.

2. The sensor calibration test system for UUV intelligent perception according to claim 1, wherein, The modular extended floating platform includes a bottom frame and floating plates. There are multiple floating plates, which are arranged side by side and spliced into a floating support platform that can float on the water surface. The pose adjustment mechanism is installed below the floating support platform; The bottom frame is installed below the floating support platform and is in water.

3. The sensor calibration test system for UUV intelligent perception according to claim 2, wherein Mechanical installation interfaces are provided at the edges of each floating plate, and two adjacent floating plates are detachably connected via the mechanical installation interfaces.

4. A sensor calibration test system for UUV intelligent perception according to claim 2, characterized in that The area of each floating board is 10 - 15 m 2 , and the weight that a single floating board can bear is 300 kg - 600 kg.

5. The sensor calibration test system for UUV intelligent perception according to claim 2, characterized in that, An underwater monitoring camera is respectively arranged at the four bottom corners of the bottom frame.

6. The sensor calibration and testing system for UUV intelligent perception according to claim 1, wherein When the underwater target is used as a calibration sample, an underwater acoustic, optical, and magnetic comprehensive beacon is provided on the underwater target, and the underwater acoustic, optical, and magnetic comprehensive beacon is used to simulate the underwater target emitting acoustic waves, optical signals, and magnetic field signals.

7. The sensor calibration test system for UUV intelligent perception according to claim 6, wherein The underwater detection mechanism includes a three-dimensional imaging sonar, an underwater camera, and a magnetometer. The three-dimensional imaging sonar is used to obtain the sonar image of the underwater target. The underwater camera obtains the optical image of the underwater target based on the optical signal emitted by the underwater acoustic, optical, and magnetic comprehensive beacon. The magnetometer detects and senses the position and magnetic field characteristics of the underwater target based on the magnetic field signal emitted by the underwater acoustic, optical, and magnetic comprehensive beacon.

8. A sensor calibration and testing system for UUV intelligent perception according to claim 1, characterized in that, The system also includes a near-bottom multi-beam sounding mechanism and a sidescan sonar mechanism. The near-bottom multi-beam sounding mechanism is installed on the UUV simulation carrying platform and is used to obtain simulated seabed terrain data; The sidescan sonar mechanism is installed on the UUV simulation carrying platform and is used to obtain three-dimensional data of the seabed terrain and underwater targets.

9. A sensor calibration test method for UUV intelligent perception, characterized in that, It is implemented by using a sensor calibration and testing system for UUV intelligent perception described in claim 7. The calibration and testing process is as follows: S1, Equipment Assembly and Sensor Calibration: Install the pose adjustment mechanism, intelligent control and data acquisition mechanism, and power supply mechanism onto the modular extended floating platform, install the UUV simulation platform and underwater target onto the corresponding pose adjustment mechanisms, and set the initial pose. Calibrate the 3D imaging sonar, underwater camera, and magnetometer, and then synchronize the clocks of the 3D imaging sonar, underwater camera, and magnetometer through the PTP / NTP protocol; install the 3D imaging sonar, underwater camera, and magnetometer onto the UUV simulation platform, install the underwater acoustic-optical-magnetic integrated beacon onto the underwater target, electrically connect the intelligent control and data acquisition mechanism to the pose adjustment mechanism and the underwater detection mechanism respectively, and electrically connect the power supply mechanism to the intelligent control and data acquisition mechanism, the pose adjustment mechanism, and the underwater detection mechanism respectively; place the sensor calibration and testing system for UUV intelligent perception in water. S2, Dynamic Data Acquisition: Set the movement trajectories, movement speeds, and movement postures of the UUV simulation platform and the underwater target via the intelligent control and data acquisition mechanism. The intelligent control and data acquisition mechanism controls the UUV simulation platform and the underwater target to move respectively according to their pre-set movement trajectories, movement speeds, and movement postures through the pose adjustment mechanism; the 3D imaging sonar emits sound waves and receives the signals reflected by the underwater target, calculates the position and shape of the underwater target, and thus forms a sonar image; the underwater camera adaptively frames according to the movement speed and captures the optical image of the underwater target based on the optical signals emitted by the underwater acoustic-optical-magnetic integrated beacon; the magnetometer continuously collects the magnetic field data emitted by the underwater acoustic-optical-magnetic integrated beacon and records the magnetic characteristics of the underwater target. S3, Data Synchronization and Storage: Mark the collected data of the 3D imaging sonar, underwater camera, and magnetometer with synchronous timestamps. S4, Data Processing: The 3D imaging sonar, underwater camera, and magnetometer respectively transmit the continuously collected data to the intelligent control and data acquisition mechanism. The intelligent control and data acquisition mechanism respectively filters, denoises, and converts the format of the raw data collected by the 3D imaging sonar, underwater camera, and magnetometer; the pose adjustment mechanism outputs the accurate pose and actual 3D coordinates of the UUV simulation platform and the underwater target to the intelligent control and data acquisition mechanism in real time. S5, Sensor Calibration: The intelligent control and data acquisition mechanism compares the pose and 3D coordinates of the underwater target output by the pose adjustment mechanism with the data collected by the 3D imaging sonar, underwater camera, and magnetometer, and then calibrates the working parameters of the 3D imaging sonar, underwater camera, and magnetometer respectively. When the 3D imaging sonar, underwater camera, and magnetometer need to be calibrated repeatedly, adjust the movement trajectories, movement speeds, or movement postures of the UUV simulation platform and the underwater target, and repeat steps S2 to S5 until the calibration results of the sensors meet the usage requirements. S6, Sensor Testing: Remove the underwater acoustic-optic-magnetic integrated beacon from the underwater target. Set the motion trajectories, speeds, and postures of the UUV simulation platform and the underwater target via the intelligent control and data acquisition mechanism. The intelligent control and data acquisition mechanism controls the UUV simulation platform and the underwater target to move respectively according to their pre-set motion trajectories, speeds, and postures through the pose adjustment mechanism. The 3D imaging sonar emits sound waves and receives the signals reflected by the underwater target, calculates the position and shape of the underwater target, and thus forms a sonar image. The underwater camera adapts the frame rate according to the motion speed and takes an optical image of the underwater target. The magnetometer continuously collects the magnetic field data emitted by the underwater target and records the magnetic characteristics of the underwater target. Synchronize the time stamps for the data collected by the 3D imaging sonar, the underwater camera, and the magnetometer. The 3D imaging sonar, the underwater camera, and the magnetometer respectively transmit the continuously collected data to the intelligent control and data acquisition mechanism. The intelligent control and data acquisition mechanism respectively filters, denoises, and converts the format of the original data collected by the 3D imaging sonar, the underwater camera, and the magnetometer. The pose adjustment mechanism outputs the accurate poses and actual 3D coordinates of the UUV simulation platform and the underwater target to the intelligent control and data acquisition mechanism in real time. The intelligent control and data acquisition mechanism compares based on the poses and 3D coordinates of the underwater target output by the pose adjustment mechanism, as well as the data collected by the 3D imaging sonar, the underwater camera, and the magnetometer, to complete the tests of the 3D imaging sonar, the underwater camera, and the magnetometer.

10. A sensor calibration test method for UUV intelligent perception according to claim 9, characterized in that In the above S1, place the sensor calibration test system for UUV intelligent perception in a test pool, a lake, or the sea for testing. Among them, the length, width, and depth of the test pool are 30m, 15m, and 10m respectively.

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