Connection station applied to deep sea vertical aircraft and multi-sensing information positioning system

Abstract

The invention discloses a docking station and a multi-sensing information positioning system applied to a deep sea vertical aircraft, and the docking station uses four short baseline transducer elements to construct an array, and uses the array to construct an array coordinate system. Obtaining a first coordinate of the deep-sea vertical aircraft in an array coordinate system through the received depth information of the aircraft and the docking station and the incident angle of the deep-sea vertical aircraft relative to the underwater acoustic array; and converting the first coordinate into a relative coordinate of the deep-sea vertical aircraft in a geodetic coordinate system by taking the docking station as a reference object based on the pose of the docking station, thereby realizing accurate navigation. In addition, accurate navigation can be achieved through one base station, compared with the prior art that multiple base stations need to be laid, positioning errors caused by laying errors are avoided, a mother ship carrying sbl does not need to be used for auxiliary positioning on the sea surface, and the purpose that the aircraft autonomously goes back and forth between the sea surface and the seabed for a long time and executes the task of long-term localized navigation can be achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of marine technology engineering, and particularly relates to a docking station applied to a deep-sea vertical vehicle and a multi-sensing information positioning system. BACKGROUND

[0002] An underwater autonomous vehicle (AUV) is a new type of mobile observation equipment for marine environment, which has an autonomous power and navigation system and can be loaded with various sensors to dynamically and stereoscopically observe the marine environment. In recent years, researchers have established an underwater docking base station and an underwater profiler to form a docking system to observe the ocean. After the vehicle successfully docks at the docking base station, the docking base station provides energy supply and information interaction for the underwater autonomous vehicle.

[0003] Compared with horizontal vehicles, vertical profile vehicles are more suitable for performing localized navigation tasks between the water surface and the seabed docking base station. They can reduce energy consumption through buoyancy adjustment, overcome the drift caused by ocean currents, and increase the docking success rate.

[0004] The patent application with the publication number CN110884632A discloses a docking system applied to a hybrid vertical profiler, which belongs to the field of marine technology engineering. The docking system comprises a docking base station fixed to the seabed and in communication connection with a seabed observation network. The docking base station is provided with a guide mechanism arranged at the top of the docking base station and used for guiding the hybrid vertical profiler to dock in the vertical direction. A limiting mechanism is adapted to the head of the hybrid vertical profiler and is provided with a trigger mechanism for triggering a locking mechanism and a wireless power / signal transmitting unit. The locking mechanism is used for locking the hybrid vertical profiler. The hybrid vertical profiler is provided with a wireless power / signal receiving unit for completing charging and signal transmission with the wireless power / signal transmitting unit. The docking base station is fixed to the seabed and is used for docking the hybrid vertical profiler moving vertically and reciprocally in the vertical direction. After successful docking, the docking station supplies the vertical profiler with underwater wireless power and transmits wireless data.

[0005] The application patent application with the publication number CN119018318A discloses a cubic docking station applied to a deep-sea vertical profiler, and particularly relates to the field of marine technology engineering.The cubic docking station applied to the deep-sea vertical profiler comprises a fixed frame, a clamping module, a limiting throw-off assembly and a docking guide mechanism, the fixed frame is further provided with a buoyancy adjusting module, the buoyancy adjusting module is provided with a plurality of buoyancy adjusting modules, the plurality of buoyancy adjusting modules are stacked and fixed on the fixed frame near the top side, the limiting throw-off assembly and the buoyancy adjusting module are matched to float up and sink, which is helpful for the cyclic operation of the docking station, at the same time, after the limiting throw-off assembly throws off the counterweight block, the buoyancy adjusting module is used to automatically float up while the vertical profiler is vertically docked and recovered underwater, the vertical profiler is not affected by the ocean current, the success rate is higher and the energy consumption is less.

[0006] However, in the docking process of the docking station and the vehicle disclosed in the above patent application, a water sound positioning method combined with other multiple sensors is needed for positioning, and the current water sound positioning technology needs to place multiple base stations in advance or needs the mother ship to follow the AUV. It is difficult to keep the position of the base station correctly placed, and the position error will cause the ranging error and increase the risk of positioning error. At the same time, for the task of long-term autonomous local navigation, the mother ship cannot stay in the sea for a long time, which has limitations in execution. SUMMARY

[0007] The docking station applied to the deep-sea vertical vehicle provided by the application can realize relatively accurate positioning of the vehicle by using one base station, reduces the positioning error caused by multiple base stations, and improves the positioning accuracy.

[0008] The application provides a docking station applied to a deep-sea vertical vehicle, which comprises: An underwater sound transducer, the underwater sound transducer comprises four short baseline transducer elements, the four short baseline transducer elements are arranged in a square shape to construct a base array, the short baseline transducer elements are used for receiving underwater sound signals from the deep-sea vertical vehicle and sending relative coordinates of the deep-sea vertical vehicle in the earth coordinate system with the docking station as a reference to the deep-sea vertical vehicle; An underwater sound electronic cabin connected with the short baseline transducer elements, used for supplying power to the underwater sound transducer and sending commands, used for obtaining depth information of the deep-sea vertical vehicle from the underwater sound signals, and used for calculating the incidence angle of the deep-sea vertical vehicle to the base station based on the time difference of underwater sound data received by different short baseline transducer elements; A vehicle docking cabin connected with the electronic control cabin, provided with a wireless charging coil, used for docking with the deep-sea vertical vehicle, and transmitting electric energy and high-frequency electromagnetic wave signals to the deep-sea vertical vehicle; The electronic control cabin is connected with the underwater acoustic transducer, the underwater acoustic electronic cabin and the vehicle docking cabin respectively, and is used for supplying power to the underwater acoustic electronic cabin and the vehicle docking cabin, and is also used for obtaining a vertical distance between the deep-sea vertical vehicle and the docking station based on depth information of the deep-sea vertical vehicle and depth information of the docking station, obtaining a first coordinate of the deep-sea vertical vehicle in a base array coordinate system based on the vertical distance and an incident angle of the deep-sea vertical vehicle relative to the underwater acoustic array, converting the first coordinate into a relative coordinate of the deep-sea vertical vehicle in a geodetic coordinate system with the docking station as a reference based on a self-pose of the docking station, and sending the relative coordinate to any one of the four short baseline transducer elements.

[0009] Preferably, the first coordinate of the vertical vehicle in the base station coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle relative to the underwater acoustic array comprises: connecting each two short baseline transducer elements located at four corners of a square to form diagonal lines as an X axis and a Y axis respectively, and connecting the intersection of the two diagonal lines as an origin of the base array coordinate system; obtaining an angle between the sound line emitted by the vertical vehicle and the X axis based on the distance between the two short baseline transducer elements on the X axis and the time difference of receiving the underwater acoustic signals from the deep-sea vertical vehicle respectively ; obtaining an angle between the sound line emitted by the vertical vehicle and the Y axis based on the distance between the two short baseline transducer elements on the Y axis and the time difference of receiving the underwater acoustic signals from the vertical vehicle ; taking the vertical distance between the deep-sea vertical vehicle and the docking station as a Z axis coordinate value in the base array coordinate system, obtaining the distance R of the vertical vehicle to the origin of the base array coordinate system based on the Z axis coordinate value, and obtaining the coordinate values of the X and Y axes based on the product of the cosine value of R and the cosine value of , and , thereby obtaining the first coordinate in the base station coordinate system.

[0010] Preferably, the angle between the sound line emitted by the deep-sea vertical vehicle and the X axis is: wherein, the short baseline transducer elements on the X axis are the first short baseline transducer element and the third short baseline transducer element, the time difference of receiving the underwater acoustic signals from the vertical vehicle respectively, d is the distance between the first short baseline transducer element and the third short baseline transducer element, and c is the propagation speed of the sound wave in seawater.

[0011] Preferably, the angle between the sound line emitted by the deep-sea vertical vehicle and the Y axis is: wherein, is the time difference of the underwater acoustic signal from the vertical vehicle received by the short baseline transducer element on the Y axis, i.e. the second short baseline transducer element and the fourth short baseline transducer element, respectively, d is the distance between the second short baseline transducer element and the fourth short baseline transducer element, and c is the propagation speed of the acoustic wave in seawater.

[0012] Preferably, the first coordinate of the X and Y axes is obtained based on the product of the cosine value of R and the cosine value of and are respectively: , , wherein, L is the vertical distance between the deep-sea vertical vehicle and the docking station.

[0013] Preferably, the electronic control cabin comprises: a depth pressure gauge connected with the data processing and control module for obtaining the depth information of the base station; an electronic compass sensor connected with the data processing and control module for obtaining the attitude angle of the docking station; the data processing and control module connected with the underwater acoustic electronic cabin, the depth pressure gauge and the electronic compass sensor respectively, for obtaining the vertical distance between the deep-sea vertical vehicle and the docking station based on the received depth information of the deep-sea vertical vehicle and the depth information of the docking station, obtaining the first coordinate of the vertical vehicle in the base array coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle relative to the underwater acoustic array, converting the first coordinate into the relative coordinate of the deep-sea vertical vehicle in the geodetic coordinate system with the docking station as the reference based on the own pose of the docking station, and sending the relative coordinate to the underwater acoustic electronic cabin, and then sending the relative coordinate to any one of the four short baseline transducer elements by the underwater acoustic electronic cabin; the docking station electronic control module connected with the underwater acoustic electronic cabin, the depth pressure gauge and the electronic compass sensor respectively, for supplying power to the underwater acoustic electronic cabin, the depth pressure gauge and the electronic compass sensor.

[0014] The application further provides a multi-sensing information positioning system suitable for a deep-sea vertical vehicle, comprising the deep-sea vertical vehicle and the docking station. The deep-sea vertical vehicle is used for periodically sending underwater acoustic signals to the docking station, and is further used for adjusting the yaw angle and the pitch angle based on the received relative coordinate in the geodetic coordinate system with the docking station as the reference, so as to adjust the attitude, and is further used for docking with the vehicle docking cabin, and performing electric energy supply, and performing high-frequency electromagnetic wave signal transmission with the docking station. ​​The docking station is used for receiving a water acoustic signal from the deep-sea vertical vehicle, obtaining depth information of the vertical vehicle from the water acoustic signal, calculating an incident angle of the vertical vehicle relative to the base station, obtaining a vertical distance between the deep-sea vertical vehicle and the docking station based on the depth information of the deep-sea vertical vehicle and the depth information of the docking station, obtaining a first coordinate of the deep-sea vertical vehicle in a base array coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle relative to the water acoustic base array, converting the first coordinate into a relative coordinate of the deep-sea vertical vehicle in a geodetic coordinate system with the docking station as a reference based on a self-pose of the docking station, and sending the relative coordinate to the deep-sea vertical vehicle.

[0015] Preferably, the deep-sea vertical vehicle comprises, from the head to the tail, an acousto-optic guiding module, a buoyancy compensation oil bag, a sensor module, an embedded development main control board, a pose adjusting module and an energy module, a buoyancy adjusting module, an electric control module, a glider wing, a tail axial propeller and a tail radial propeller. The acousto-optic guiding module comprises a water acoustic communication positioning beacon transceiver transducer and a camera, the water acoustic communication positioning beacon transceiver transducer is used for sending a water acoustic signal to the docking station and receiving a relative coordinate of the deep-sea vertical vehicle in a geodetic coordinate system with the docking station as a reference, and the camera is used for sending an optical picture obtained in the last stage of docking to a photographed photo to the embedded development main control board, and after processing algorithms such as binarization and graphic center point calculation, stably outputting deviation data, compensating for delay error of the acoustic signal and meeting the accuracy requirement of the last-stage docking control. The sensor module comprises a vehicle height pressure gauge and an inertial measurement unit (IMU), the vehicle height pressure gauge is used for measuring the depth of the deep-sea vertical vehicle and sending the depth of the deep-sea vertical vehicle to the water acoustic communication positioning beacon transceiver transducer, and the inertial measurement unit (IMU) is used for adjusting a yaw angle and a pitch angle based on the received relative coordinate in the geodetic coordinate system with the docking station as a reference.

[0016] Compared with the prior art, the present application has the following beneficial effects: The present application uses four short baseline transducer elements to construct a base array, uses a base array coordinate system constructed by the base array, obtains a first coordinate of the deep-sea vertical vehicle in the base array coordinate system through the received depth information of the vehicle and the docking station and the incident angle of the deep-sea vertical vehicle relative to the water acoustic base array, converts the first coordinate into a relative coordinate of the deep-sea vertical vehicle in the geodetic coordinate system with the docking station as a reference based on the self-pose of the docking station, and thus precise navigation can be realized.

[0017] And the application can realize accurate navigation by using one base station, compared with the prior art which needs to lay multiple base stations, positioning errors caused by laying errors are avoided, and a mother ship carrying an SBL is not needed to assist positioning on the sea surface, so that the vehicle can realize long-term autonomous round trip between the sea surface and the seabed and perform long-term regional navigation tasks. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A front view of the docking station provided for the embodiment of the application; Figure 2 A top view of the docking station provided for the embodiment of the application; Figure 3 A schematic diagram of the incidence angle of the deep-sea vertical vehicle relative to the base station provided for the embodiment of the application; Figure 4 A structural diagram of the deep-sea vertical vehicle provided for the embodiment of the application; Figure 5 A docking flowchart of the docking station and the deep-sea vertical vehicle provided for the embodiment of the application. DETAILED DESCRIPTION

[0019] In order to more clearly and completely illustrate the technical solutions of the application, the application will be further described below with reference to the drawings.

[0020] As shown in Figure 1 and Figure 2 , the application provides a docking station applied to a deep-sea vertical vehicle, which comprises a water acoustic transducer 10, a water acoustic electronic cabin 11, a vehicle docking cabin 12 and an electronic control cabin 13.

[0021] Among them, the water acoustic transducer 10 provided by the embodiment of the application is located at the top of the docking station, which comprises four short baseline transduction elements, the four short baseline (SBL) transduction elements are located at the four corners of a square on a plane, i.e. arranged in a square shape, thereby constructing a base array, the short baseline transducer provided by the application is used for receiving water acoustic signals from the deep-sea vertical vehicle, and can also be used for sending the relative coordinates of the deep-sea vertical vehicle in the terrestrial coordinate system with the docking station as the reference to the deep-sea vertical vehicle calculated by the electronic control cabin.

[0022] In one embodiment, the four short baseline (SBL) transduction elements provided by the embodiment of the application are array element 1, array element 2, array element 3 and array element 4, respectively, which are distributed counterclockwise on the four corners of the square at the top of the docking station, taking two diagonal lines of the square as the X and Y axes, and taking the intersection of the two diagonal lines as the origin of the base array coordinate system, array element 1 is located on the positive half of the X axis, array element 2 is located on the positive half of the Y axis, array element 3 is located on the negative half of the X axis, and array element 4 is located on the negative half of the Y axis, which together constitute an SBL base array.

[0023] The water acoustic electronic cabin 11 is connected with the short baseline transducer elements, used for obtaining the depth information of the deep sea vertical vehicle from the water acoustic signals from the deep sea vertical vehicle, and sending the depth information to the electronic control cabin, and also used for calculating the incidence angle of the deep sea vertical vehicle to the base station based on the time difference of receiving the water acoustic data by different short baseline transducer elements, as shown in the figure, since the array element spacing is much smaller than the slant distance, it can be considered as a far field receiving case, that is, the sound line of the incidence angle is parallel to all the elements. The water acoustic electronic cabin provided in the embodiments of the present application is used for simply and efficiently calculating the incidence angle θ of the deep sea vehicle to the base station based on the array provided in the embodiments of the present application. The water acoustic electronic cabin provided in the embodiments of the present application is also used for providing energy supply to the short baseline transducer elements. Figure 3

[0024] In an embodiment, the embodiments of the present application obtain the angle between the sound line emitted by the vertical vehicle and the X axis based on the distance d between the element 1 and the element 3 on the X axis, and the time difference and the phase difference of receiving the water acoustic signals from the deep sea vertical vehicle by the element 1 and the element 3. The angle is: wherein, is the time difference of receiving the water acoustic signals from the vertical vehicle by the short baseline transducer elements on the X axis, that is, the first short baseline transducer element and the third short baseline transducer element, that is, the element 1 and the element 3, d is the distance of the first short baseline transducer element and the third short baseline transducer element, and c is the propagation speed of the sound wave in the seawater.

[0025] The embodiments of the present application obtain the angle between the sound line emitted by the vertical vehicle and the Y axis based on the distance of the two short baseline transducer elements on the Y axis, and the time difference and the phase difference of receiving the water acoustic signals from the vertical vehicle. The angle is: wherein, is the time difference of receiving the water acoustic signals from the vertical vehicle by the short baseline transducer elements on the Y axis, that is, the second short baseline transducer element and the fourth short baseline transducer element, that is, the element 2 and the element 4, d is the distance of the second short baseline transducer element and the fourth short baseline transducer element, and c is the propagation speed of the sound wave in the seawater.

[0026] The vehicle docking cabin 12 provided in the embodiments of the present application is connected with the electronic control cabin 13, used for docking with the deep sea vertical vehicle, and transmitting electric energy and high frequency electromagnetic wave (WIFI) signals to the deep sea vertical vehicle.

[0027] ​The electronic control cabin 13 is connected with the underwater acoustic electronic cabin 11 and the vehicle docking cabin 12 respectively, and is used for supplying power to the underwater acoustic electronic cabin 11 and the vehicle docking cabin 12, and is also used for obtaining the vertical distance between the deep-sea vertical vehicle and the docking station based on the depth information of the deep-sea vertical vehicle and the depth information of the docking station, obtaining the first coordinate of the deep-sea vertical vehicle in the base array coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle relative to the underwater acoustic array, converting the first coordinate into the relative coordinate of the deep-sea vertical vehicle in the geodetic coordinate system with the docking station as the reference based on the pose of the docking station, and sending the relative coordinate to any one of the four short baseline transducer elements.

[0028] In an embodiment, the electronic control cabin comprises a depth pressure meter, an electronic compass sensor, a data processing and control module and a docking station electric control module, wherein the depth pressure meter is connected with the data processing and control module, and is used for sending the obtained depth information of the base station to the data processing and control module.

[0029] The electronic compass sensor is connected with the data processing and control module, and is used for sending the obtained pose angle of the docking station to the data processing and control module, and is also used for, in the pre-preparation work, performing spatial calibration with the deep-sea vertical vehicle, eliminating sensor errors (such as hard iron interference, soft iron interference, zero offset, sensitivity error, etc.) by using the ellipsoid fitting method and the inclination compensation method based on the accelerometer, so as to ensure the accuracy of direction measurement, and then lifting the docking base station calibrated to be completed by the mother ship and placing the docking base station in the designated sea area by the cable, and waiting for the docking base station to land on the sea bottom plane to perform a long-term observation task.

[0030] The data processing and control module is connected with the underwater acoustic electronic cabin, the depth pressure meter and the electronic compass sensor respectively, and the data processing and control module can obtain the vertical distance between the deep-sea vertical vehicle and the docking station based on the received depth information of the deep-sea vertical vehicle and the depth information of the docking station, obtain the first coordinate of the deep-sea vertical vehicle in the base array coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle relative to the underwater acoustic array, convert the first coordinate into the relative coordinate of the deep-sea vertical vehicle in the geodetic coordinate system with the docking station as the reference based on the pose of the docking station, and send the relative coordinate to the underwater acoustic electronic cabin, so that the underwater acoustic electronic cabin controls any one of the four short baseline transducer elements to send a reply to the deep-sea vertical vehicle.

[0031] Specifically, the data processing and control module is a computer for data processing and control.

[0032] The electric control module of the docking station is connected with the underwater acoustic electronic cabin, the depth pressure machine and the electronic compass sensor respectively, and is used for supplying power to the underwater acoustic electronic cabin, the depth pressure machine and the electronic compass sensor.

[0033] In a specific embodiment, the vertical distance between the deep-sea vertical vehicle and the docking station is taken as the Z-axis coordinate value in the base array coordinate system, and based on the Z-axis coordinate value, and the distance R of the vertical vehicle to the origin of the base array coordinate system is obtained, and the coordinate values of the X and Y axes are obtained based on the product of the cosine value of R and the cosine value of and , so as to obtain the first coordinate in the base station coordinate system, and the first coordinate and are respectively: , ,, wherein L is the vertical distance between the deep-sea vertical vehicle and the docking station, that is, when the docking station obtains the depth information of the deep-sea vertical vehicle, and the depth information of the docking station itself is obtained through the depth pressure gauge installed on the docking station, the vertical distance L between the docking station and the vehicle can be calculated by subtraction, so that the slant distance R can be calculated, and the first coordinate can be calculated. At this time, the coordinate of the vehicle in the base station coordinate system can be obtained as , and the Z-axis is in the positive direction downward.

[0034] Then, the attitude angles of the electronic compass module 13 are obtained, that is, the included angle between the X-axis and the horizontal plane is the pitch angle, the included angle between the Y-axis and the horizontal plane is the roll angle, and the projection of the X-axis on the horizontal plane and the included angle with the north are the yaw angle, so that the coordinate of the vehicle in the base station coordinate system can be converted to the geodetic coordinate system n (north, east, ground) through the attitude conversion matrix, assuming that the pitch angle is , the roll angle is , and the yaw angle is , so that the attitude conversion matrix is:

[0035] Therefore, the coordinate (X, Y, Z) of the vehicle in the geodetic coordinate system with the base station as the origin can be calculated, that is, the relative position of the vehicle in the geodetic coordinate system with the base station as the reference object is obtained, the positioning is realized, X is the northward distance, Y is the eastward distance, and Z is the vertical distance: .

[0036] The docking station provided by the embodiment of the present application calculates the coordinates, and sends the calculation result to the deep-sea vertical vehicle through the sbl base array by means of a water acoustic signal, so that the deep-sea vertical vehicle can navigate by using the water acoustic positioning result. After obtaining the positioning result in each positioning cycle, the deep-sea vertical vehicle adjusts the pitch angle and the yaw angle in real time through the attitude adjustment module 7, controls the heading to align with the base station, and finally reaches the seabed to complete the successful docking.

[0037] In another aspect, the present application also provides a multi-sensing information positioning system suitable for a deep-sea vertical vehicle, comprising a deep-sea vertical vehicle and the docking station described above, wherein: The deep-sea vertical vehicle provided by the embodiment of the present application is used for periodically sending a water acoustic signal to the docking station, and is also used for adjusting the yaw angle and the pitch angle based on the received relative coordinates of the deep-sea vertical vehicle in the terrestrial coordinate system and with the docking station as a reference, so as to adjust the attitude, and is also used for docking with the vehicle docking cabin and receiving high-frequency electromagnetic wave data.

[0038] The docking station provided by the embodiment of the present application is used for receiving the water acoustic signal from the deep-sea vertical vehicle, obtaining the depth information of the deep-sea vertical vehicle from the water acoustic signal, calculating the incident angle of the deep-sea vertical vehicle to the base station, obtaining the vertical distance between the deep-sea vertical vehicle and the docking station based on the depth information of the deep-sea vertical vehicle and the depth information of the docking station, obtaining the first coordinates of the deep-sea vertical vehicle in the base array coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle to the water acoustic base array, converting the first coordinates into the relative coordinates of the deep-sea vertical vehicle in the terrestrial coordinate system and with the docking station as a reference based on the own pose of the docking station, and sending the relative coordinates to the deep-sea vertical vehicle.

[0039] As shown in the figure, Figure 4 The deep-sea vertical vehicle provided by the embodiment of the present application comprises an acousto-optic guiding module 9, a buoyancy compensation oil tank 4, a sensor module 8, an embedded development main control board, an attitude adjustment module and an energy module 7, a buoyancy adjustment module 6, an electric control module 5, a glider wing 3, a tail axial thruster 2 and a tail radial thruster 1 from the head to the tail, wherein: The acousto-optic guiding module 9 provided by the embodiment of the present application comprises a water acoustic communication positioning beacon transceiver transducer and a camera. The water acoustic communication positioning beacon transceiver transducer is used for sending a water acoustic signal to the docking station, and is also used for receiving the relative coordinates of the deep-sea vertical vehicle in the terrestrial coordinate system and with the docking station as a reference from the docking station. The camera is used for sending the optical picture obtained in the last stage of docking to the photographed photo to the embedded development main control board, the signal frame rate of which is 30 Hz. After the video signal is processed by a binaryzation and a graphic center point calculation algorithm, the deviation data above 10 Hz is stably output, the delay error of the acoustic signal is compensated, and the accuracy requirement of the final docking control is met.

[0040] The sensor module 8 provided by the embodiment of the present application comprises an aircraft altitude pressure gauge and an inertial measurement unit (IMU), the aircraft altitude pressure gauge is used for measuring the depth of the aircraft and sending the depth of the aircraft to the underwater acoustic communication positioning beacon transceiver, and the IMU is used for adjusting the yaw angle and the pitch angle based on the received relative coordinates with the docking station as the reference in the geodetic coordinate system.

[0041] The attitude adjusting module and the energy module 7 provided by the embodiment of the present application change the stable attitude of the aircraft by changing the relative position of the center of gravity and the center of buoyancy of the aircraft through sliding the attitude module on the guide rail, and realize the attitude adjusting technology based on the center of gravity adjustment.

[0042] The buoyancy adjusting module 6 provided by the embodiment of the present application comprises a pump, a motor and a valve, adopts a hydraulic drive adjusting mode, and realizes the buoyancy adjustment in a high-pressure environment.

[0043] The electronic control module 5 provided by the embodiment of the present application is a bottom layer main control circuit board based on an STM32 chip, and is mainly used for communication and power supply.

[0044] The embodiment of the present application controls the thrust and the moving direction of the deep-sea vertical aircraft through the glider wing, the tail axial thruster and the tail radial thruster, the tail radial thruster is used for providing the radial thrust, and the tail axial thruster is used for providing the axial thrust.

[0045] The present application takes the deep-sea diving docking of one time of 6000 meters as an example, as shown in Figure 5 The positioning process is as follows: In order to successfully execute the positioning function, the pre-preparation work needs to be done first: firstly, the IMU measurement unit 8 of the aircraft and the electronic compass 13 of the docking base station are respectively space calibrated, the ellipsoid fitting method and the inclination compensation method based on the accelerometer are adopted, the sensor errors (such as hard iron interference, soft iron interference, zero offset, sensitivity error, etc.) are eliminated, so as to ensure the accuracy of the direction measurement. Then the calibrated docking base station is lifted by the cable by the mother ship and is laid in the specified sea area, and waits for it to land on the sea bottom plane to execute the long-term observation task.

[0046] The deep sea vertical vehicle provided by the embodiment of the present application receives the docking instruction through the satellite, the buoyancy adjusting module 6 performs the oiling operation to reduce the buoyancy and start the diving, the sensor module 8 reads the sensing information according to the set frequency, the acceleration, the angular velocity and the attitude angle of the vehicle are read through the imu, the underwater acoustic positioning adopts the responder mechanism, the current depth value of the vehicle is periodically transmitted to the seabed through the underwater acoustic communication positioning transceiver 9, when the four transducers 10 of the seabed docking base station receive the underwater acoustic signal transmitted by the vehicle, the underwater acoustic electronic cabin 11 obtains the depth information of the vehicle through the received underwater acoustic data, and the azimuth angle and the pitch angle of the vehicle relative to the base array are solved through the phase difference and the time difference: since the array element spacing is very small compared with the slant range, it can be considered as a far-field receiving condition, that is, the sound lines of the incident angle to all the base elements are parallel.

[0047] The spacing between the first array element and the third array element of the underwater acoustic communication positioning base array 1 and the spacing between the second array element and the fourth array element of the underwater acoustic communication positioning base array 1 are The time difference between the signals received by the first array element and the third array element , the propagation speed c of the sound wave in seawater, the angle between the sound line emitted by the underwater acoustic communication positioning transceiver and the x axis can be solved :

[0048] The time difference between the signals received by the second array element and the fourth array element , the propagation speed c of the sound wave in seawater, the angle between the sound line emitted by the underwater acoustic communication positioning transceiver and the y axis can be solved :

[0049] Assuming that the distance from the underwater acoustic communication positioning transceiver of the vehicle to the origin of the underwater acoustic communication positioning base array is the slant range R, the horizontal and vertical coordinates of the underwater acoustic communication positioning transceiver in the base array coordinates 、 are as follows: ,

[0050] The relationship between the horizontal and vertical coordinates of the underwater acoustic communication positioning transceiver and the distance of the underwater acoustic communication positioning transceiver to the plane where the four array elements of the underwater acoustic communication positioning base array are located 、 is as follows:

[0051] ​Considering the directivity of the underwater acoustic communication positioning array, the underwater acoustic communication positioning beacon can only move above the four array elements, i.e., the positive z-axis. Therefore:

[0052] Once the docking base station obtains the depth information of the aircraft and acquires its own depth information via a depth gauge installed on the base station, the vertical distance L between the base station and the aircraft can be calculated by subtracting the two measurements. Therefore, the slant range can be calculated. And then calculate , At this point, the coordinates of the vehicle in the base station coordinate system can be obtained as ( The Z-axis points downwards as the positive direction. Then, the vehicle's attitude angles are obtained through the electronic compass module 13: the angle between the X-axis and the horizontal plane is the pitch angle, the angle between the Y-axis and the horizontal plane is the roll angle, and the angle between the projection of the X-axis onto the horizontal plane and true north is the yaw angle. Therefore, the vehicle's coordinates in the base station coordinate system can be transformed to the geodetic coordinate system n (north, east, ground) using the attitude transformation matrix. Assuming the pitch angle is... The roll angle is yaw angle is Then the attitude transformation matrix is:

[0053] Therefore, the coordinates (X, Y, Z) of the vehicle in the geodetic coordinate system with the base station as the origin can be calculated, which gives the vehicle's relative position in the geodetic coordinate system with the base station as the reference point, thus achieving positioning. X represents the northward distance, Y represents the eastward distance, and Z represents the vertical distance. .

[0054] After the docking station calculates the coordinates, it transmits the results back to the vehicle via the SBL array, allowing the vehicle to navigate using the underwater acoustic positioning. After obtaining the positioning result in each positioning cycle, the vehicle uses attitude adjustment module 7 to adjust its pitch and yaw angles in real time, controlling its course to align with the base station, and finally reaching the seabed to complete a successful docking.

[0055] The present invention specifically designs a deep-sea vertical vehicle and a vertical docking base station. Compared with horizontal vehicles, the vertically profiled vehicle can more efficiently and accurately perform localized navigation tasks between the surface and the seabed docking base station. It can reduce energy consumption through buoyancy adjustment, overcome drift caused by ocean currents, and increase the docking success rate.

[0056] The embodiment of the present application provides a multi-sensing information positioning system suitable for a deep-sea vertical vehicle, the system fully utilizes multi-sensor information carried on the vehicle and a docking base station: a depth pressure gauge, an electronic compass, an IMU, an SBL, carries out data analysis and processing through an embedded small computer, and completes large-scale underwater communication through the acoustic SBL, finally obtains three-dimensional coordinates of the vehicle in the geodetic coordinate system with the docking base station as the origin, and realizes accurate navigation.

[0057] The embodiment of the present application only needs to install four acoustic array transducers in a fixed position of a base station, and places the base station in a fixed sea area where a long-term observation task needs to be performed, does not need to place four and more base stations, avoids positioning errors caused by placement errors. The mother ship carrying the SBL does not need to assist in positioning on the sea surface, and the vehicle can realize long-term autonomous return between the sea surface and the seabed, and perform a long-term regional navigation task.

[0058] The embodiment of the present application adopts the above docking base station multi-sensing information positioning system, can efficiently and accurately help the deep-sea vertical vehicle to obtain the relative position of the docking base station, the positioning effective distance is more than 6000 meters, reduces the energy consumption loss of the vertical vehicle docking, improves the success rate of the vertical vehicle docking, is suitable for autonomous navigation of the deep-sea vertical vehicle, and performs a long-term intelligent return between the water surface and the seabed docking base station. The positioning system has good portability and reusability, and for other deep-sea positioning navigation environments, redundant design can be completed by increasing the number and types of sensors, such as a strapdown inertial navigation system, an optical camera, a sonar detector, etc., according to specific conditions, sensor information is added into the system to increase positioning accuracy and eliminate positioning errors.

Claims

1. A docking station for a deep sea vertical vehicle, characterized in that, The application relates to a docking station for a deep-sea vertical vehicle, which comprises the following parts: a water acoustic transducer, which comprises four short baseline transducer elements arranged in a square to form a base array, and is used for receiving water acoustic signals from the deep-sea vertical vehicle and sending relative coordinates of the deep-sea vertical vehicle in a geodetic coordinate system to the deep-sea vertical vehicle; a water acoustic electronic cabin connected with the short baseline transducer elements, which is used for supplying power to the water acoustic transducer and sending commands, obtaining depth information of the deep-sea vertical vehicle from the water acoustic signals, and calculating an incident angle of the deep-sea vertical vehicle to the base station based on time differences of water acoustic data received by different short baseline transducer elements; a vehicle docking cabin connected with the electronic control cabin and provided with a wireless charging coil, which is used for docking with the deep-sea vertical vehicle, transmitting electric energy and high-frequency electromagnetic wave signals to the deep-sea vertical vehicle; an electronic control cabin connected with the water acoustic transducer, the water acoustic electronic cabin and the vehicle docking cabin, which is used for supplying power to the water acoustic electronic cabin and the vehicle docking cabin, obtaining a vertical distance between the deep-sea vertical vehicle and the docking station based on depth information of the deep-sea vertical vehicle and depth information of the docking station, obtaining a first coordinate of the deep-sea vertical vehicle in a base array coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle to the water acoustic base array, converting the first coordinate into relative coordinates of the deep-sea vertical vehicle in a geodetic coordinate system with the docking station as a reference based on a self-pose of the docking station, and sending the relative coordinates to any one of the four short baseline transducer elements.

2. The docking station for a deep-sea vertical vehicle according to claim 1, characterized in that, The first coordinate of the deep-sea vertical vehicle in the base array coordinate system is obtained based on the vertical distance and the incident angle of the deep-sea vertical vehicle to the water acoustic base array, and the method comprises the following steps: connecting every two short baseline transducer elements located at four corners of the square to form two diagonal lines as an X axis and a Y axis respectively, and taking the intersection of the two diagonal lines as an origin of the base array coordinate system; Based on the distance between two short baseline transducer elements on the X axis and the time difference of receiving the underwater acoustic signals from the deep sea vertical vehicle respectively, the angle between the acoustic line emitted by the vertical vehicle and the X axis is obtained ; The angle between the acoustic line emitted by the vertical vehicle and the Y axis is obtained based on the distance between the two short baseline transducer elements on the Y axis and the time difference of receiving the underwater acoustic signals from the vertical vehicle ; Using the vertical distance between the deep-sea vertical vehicle and the docking station as the Z-axis coordinate value in the matrix coordinate system, based on the Z-axis coordinate value, and Obtain the distance R from the vertical launch vehicle to the origin of the base coordinate system, and then compare R with... cosine value and The product of the cosine values ​​yields the coordinates of the X and Y axes, thus providing the first coordinates in the base station coordinate system.

3. The docking station for a deep-sea vertical vehicle according to claim 2, characterized in that, The angle between the sound line emitted by the deep-sea vertical vehicle and the X axis Is: wherein, is the time difference of the underwater acoustic signal from the vertical vehicle received by the short baseline transducer elements on the X axis, i.e. the first and third short baseline transducer elements, d is the distance between the first and third short baseline transducer elements, and c is the propagation speed of the acoustic wave in seawater.

4. The docking station for a deep sea vertical vehicle of claim 2, wherein, The angle between the sound line emitted by the deep-sea vertical vehicle and the Y axis is: wherein, is the time difference of the underwater acoustic signal from the vertical vehicle received by the short baseline transducer elements on the Y axis, i.e., the second and fourth short baseline transducer elements, d is the distance between the second and fourth short baseline transducer elements, and c is the speed of sound propagation in seawater.

5. The docking station for a deep sea vertical vehicle of claim 2, wherein, The first coordinate of the X and Y axes is obtained by multiplying the cosine value of and The first coordinate of the X and Y axes is obtained by multiplying the cosine value of and respectively , , where L is the vertical distance of the deep sea vertical vehicle and the docking station.

6. The docking station for a deep sea vertical vehicle of claim 1, wherein, the electronic control cabin comprises: a depth pressure gauge connected with a data processing and control module, which is used for obtaining depth information of the docking station; an electronic compass sensor connected with the data processing and control module, which is used for obtaining a pose angle of the docking station; the data processing and control module is connected with the water acoustic electronic cabin, the depth pressure gauge and the electronic compass sensor, and is used for obtaining the vertical distance between the deep-sea vertical vehicle and the docking station based on the received depth information of the deep-sea vertical vehicle and the depth information of the docking station, obtaining the first coordinate of the deep-sea vertical vehicle in the base array coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle to the water acoustic base array, converting the first coordinate into the relative coordinates of the deep-sea vertical vehicle in the geodetic coordinate system with the docking station as the reference based on the self-pose of the docking station, and sending the relative coordinates to the water acoustic electronic cabin, which then sends the relative coordinates to any one of the four short baseline transducer elements; a docking station electric control module connected with the water acoustic electronic cabin, the depth pressure gauge and the electronic compass sensor, which is used for supplying power to the water acoustic electronic cabin, the depth pressure gauge and the electronic compass sensor.

7. A multi-sensor information positioning system suitable for use with a deep sea vertical vehicle, comprising: The application further discloses a deep-sea vertical vehicle and the docking station. The deep-sea vertical vehicle is used for sending a periodic underwater acoustic signal to the docking station, adjusting a yaw angle and a pitch angle based on a received relative coordinate of the deep-sea vertical vehicle in a terrestrial coordinate system and with the docking station as a reference, so as to adjust an attitude, docking with a vehicle docking cabin, and performing electric energy supply, and high-frequency electromagnetic wave signal transmission with the docking station; The docking station is used for receiving an underwater acoustic signal from the deep-sea vertical vehicle, obtaining depth information of the deep-sea vertical vehicle from the underwater acoustic signal, calculating an incident angle of the deep-sea vertical vehicle relative to the docking station, obtaining a vertical distance between the deep-sea vertical vehicle and the docking station based on the depth information of the deep-sea vertical vehicle and depth information of the docking station, obtaining a first coordinate of the deep-sea vertical vehicle in a base array coordinate system based on the vertical distance and the incident angle of the deep-sea vertical vehicle relative to the underwater acoustic base array, converting the first coordinate into a relative coordinate of the deep-sea vertical vehicle in a terrestrial coordinate system and with the docking station as a reference based on a self-posture of the docking station, and sending the relative coordinate to the deep-sea vertical vehicle.

8. The multi-sensor information positioning system suitable for deep-sea vertical vehicles according to claim 7, characterized in that, The deep-sea vertical vehicle comprises, from a head to a tail, an acousto-optic guiding module, a buoyancy compensation oil bag, a sensor module, an embedded development main control board, an attitude adjusting module and an energy module, a buoyancy adjusting module, an electric control module, a glider wing, a tail axial propeller and a tail radial propeller: The acousto-optic guiding module comprises an underwater acoustic communication positioning beacon transceiver and a camera, the underwater acoustic communication positioning beacon transceiver is used for sending an underwater acoustic signal to the docking station and receiving a relative coordinate of the deep-sea vertical vehicle in a terrestrial coordinate system and with the docking station as a reference from the docking station, and the camera is used for sending an optical picture obtained in a last stage of docking to a photographed photo to the embedded development main control board, and stably outputting deviation data after video signals are processed by a binarization and a graphic center point calculation algorithm, so as to compensate for a delay error of an acoustic signal and meet a precision requirement of a last-stage docking control; The sensor module comprises a vehicle height pressure gauge and an inertial measurement unit (IMU), the vehicle height pressure gauge is used for measuring a depth of the deep-sea vertical vehicle and sending the depth of the deep-sea vertical vehicle to the underwater acoustic communication positioning beacon transceiver, and the IMU is used for adjusting a yaw angle and a pitch angle based on the received relative coordinate of the deep-sea vertical vehicle in the terrestrial coordinate system and with the docking station as the reference.

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