Route planning method for co-accompanying navigation of unmanned ship and unmanned underwater vehicle

Abstract

The invention relates to the technical field of ocean engineering, in particular to a route planning method for cooperative accompanying navigation of unmanned ships and an unmanned underwater vehicle, which comprises the following steps of: performing cooperative route planning on two unmanned ships and one unmanned underwater vehicle to meet real-time synchronous accompanying navigation of the unmanned underwater vehicle and the unmanned ships; in the sailing process, the unmanned surface vehicles always accompany the two sides of the route of the unmanned underwater vehicle, a plurality of interaction points exist in the horizontal direction, the direction is changed nearby each interaction point, the unmanned surface vehicles enter the opposite side in a crossing mode, and in order to avoid collision caused by crossing of the routes of the two unmanned surface vehicles, the turning radius is calculated, and position information confirmation of the unmanned underwater vehicle is ensured. And the reliability, the safety and the effectiveness of the accompanying navigation are effectively guaranteed. According to the method, the unmanned underwater vehicle can sail in the vicinity of the unmanned underwater vehicle at a relatively low speed when the unmanned underwater vehicle sails at a low speed as an accompanying ship, normal communication can be carried out when information interaction is needed, the unmanned underwater vehicle can reach a target position according to a plan, and the unmanned underwater vehicle is prevented from being lost in the sailing process.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, specifically to a route planning method for coordinated escort between unmanned surface vessels and unmanned underwater vehicles. Background Technology

[0002] Without sonar, the cruising speed of an unmanned surface vessel (USV) platform is much greater than that of an unmanned underwater vehicle (UUV). The cruising speed of an UUV is generally 6-8 km / h, while the cruising speed of a USV varies depending on the model. The cruising speed of a USV used for routine exploration missions is 15-20 km / h. With sonar, both the unmanned surface vessel (USV) and unmanned underwater vehicle (UUV) platforms operate at low speeds. Based on previous experiments and tests, the speed of UUVs is generally 3-6 km / h, and that of USVs is generally 6-12 km / h. Due to differences in motion characteristics, working environment (surface / underwater), and communication capabilities (strong radio for USVs, weak underwater acoustics / high latency for UUVs), achieving coordinated operation between USVs and UUVs is quite challenging.

[0003] Current research on the collaboration between unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs) is mostly at the mission level. After dividing the mission area, USVs (swarms) and UUVs (swarms) respectively perform exploration tasks in different mission areas on the surface and underwater. If USVs and UUVs carry out the same specific mission collaboratively at the same time and synchronously, it is mostly achieved by USVs traveling at low speeds. This method is simple to implement, but the collaboration efficiency is low. During the mission, USVs cannot effectively accompany UUVs and cannot meet the real-time dynamic interaction within the communication range throughout the entire journey, resulting in the loss of UUVs and making it difficult to achieve effective utilization of the two platforms. Summary of the Invention

[0004] The purpose of this invention is to provide a route planning method for collaborative escort between unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs) to solve the problems mentioned in the background art. This invention enables real-time synchronous escort between UUVs and USVs. During the journey, the USV always accompanies the UUV on both sides of its route, ensuring real-time dynamic interaction between the USV and UUV within the communication range for confirming the UUV's position information. This invention effectively guarantees the reliability, safety, and effectiveness of the escort.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a route planning method for cooperative escort between unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs), comprising the following steps: Step 1: Plan the interaction points, O0 is the initial position of the task, O n To determine the target location for the mission, O0O needs to be planned. n The flight path for the unmanned underwater vehicle is O0O. n Straight-line route, O0On n interaction points are set as horizontal interaction points between the unmanned surface vessel (USV) and the unmanned underwater vehicle (UUV). The n interaction points are O1, O2...On respectively. The first interaction point O1 is the first theoretically necessary point for the USV, which is used to ensure the phased interaction between the USV and the UUV. Step Two: The first and second unmanned surface vessels (USVs) are positioned on either side of the unmanned underwater vehicle's (UUV) flight path, respectively. The flight paths of the USVs are mirror-symmetrical about axis O0O1. The speeds of the USVs and the UUVs are related as follows: ; The first and second unmanned surface vessels have a travel speed of V. USV The unmanned underwater vehicle's speed is V UUV K is the speed relationship coefficient between the unmanned surface vessel and the unmanned underwater vehicle; Step 3: Plan the route between the first unmanned surface vessel O0O1. The distance between the necessary points is S. Divide S into 3 segments, each including S1, S2, and S3. 11 S 12 S 13 S 11 S represents the distance of the first segment of the route between the first unmanned surface vessel (USV) O0O1 and USV O0O1. 12 S represents the distance of the second segment of the route between the first unmanned surface vessel (USV) O0O1. 13 S is the distance of the third segment of the route between the first unmanned surface vessel O0O1 and the second unmanned surface vessel. 11 Section, S 13 The route segment was optimized using simple methods based on the kinematic and dynamic characteristics of the unmanned surface vessel, resulting in S... 11 Section, S 13 Section and S 12 The route at the segment connection is stable and smooth, and the straight-line distance between two adjacent interaction points is D; In step two, when At that time, the route planning meets the following conditions: ; Step 4: The first and second unmanned surface vessels change direction near each interaction point, crossing into each other's paths. To avoid collisions due to the crossing paths of the two unmanned vessels, calculate the turning radius R of the unmanned vessels: ; in, Let I be the speed of the unmanned surface vessel (USV), and let I be the rotational moment of inertia of the USV. The maximum torque that the unmanned surface vessel's propulsion system can provide. The drag torque of the unmanned surface vessel; Step 5: When the unmanned underwater vehicle reaches point O1, the points near point O1 are designated as O. 11 Point and O 12 Point, O11 Point O1 is located in front of point O1. The first unmanned surface vessel arrives at point O1 and changes direction using R as the turning radius. 12 The point is located behind point O1, and the first unmanned surface vessel just arrived at point O. 12 The point changes direction with R as the turning radius; Step Six: When planning the route between O1 and O2, the unmanned underwater vehicle's route remains a straight line between two points, with the first unmanned vessel being O. 11 O 21 The second unmanned surface vessel (USV) is O, which is part of the route planning between the two locations. 12 O 22 Flight route planning between regions; Step 7: O2O3, O3O4...O n-1 O n The route planning between O1 and O2 is consistent with the route planning between O1 and O2.

[0006] As a further embodiment of the present invention, in step two, when At that time, the route planning meets the following conditions: ; Where m represents the number of unmanned surface vessel (USV) routes that must pass through between O0O1. For O0O 01 The distance of the flight path, d is O 01 O 02 The distance of the flight route, This represents the communication distance for underwater acoustic communication.

[0007] As a further embodiment of the present invention, the... At the same time, to avoid capsizing, the turning radius of the unmanned surface vessel must meet the following requirements. At the turning point of the path, make a smooth transition to complete the turn and sail steadily.

[0008] As a further embodiment of the present invention, in step four, ; Where k is a constant, which is related to the shape of the hull and hydrodynamics.

[0009] As a further embodiment of the present invention, in step four, ; Where L is the length of the unmanned surface vessel.

[0010] As a further embodiment of the present invention, in step three, S 11 Section, S 13 The route segment was optimized using simple methods based on the kinematic and dynamic characteristics of the unmanned surface vessel, resulting in S... 11 Section, S 13 Section and S12 The route transitions smoothly and stably at the segment connection.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention includes collaborative route planning for two unmanned surface vessels and one unmanned underwater vehicle. The route satisfies the real-time synchronous escort navigation of the unmanned underwater vehicle and the unmanned surface vessels. During the navigation, the unmanned surface vessels always escort the unmanned underwater vehicle on both sides of the route. The planned routes of the unmanned surface vessels and the unmanned underwater vehicle have multiple interaction points in the horizontal direction for confirming the position information of the unmanned underwater vehicle, which effectively ensures the reliability, safety and effectiveness of the escort.

[0012] Unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs) work together to escort the UUVs at low speeds. The USVs also travel at relatively low speeds in the vicinity of the UUVs, and can communicate normally when information exchange is needed, ensuring that the UUVs can reach their planned target locations and preventing the UUVs from being lost during the journey. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the cooperative escort unit route planning under the first condition of the present invention; Figure 2 This is a schematic diagram of the cooperative escort route optimization under the first condition of the present invention; Figure 3 This is a schematic diagram illustrating the continuous planning of multiple routes for cooperative escort under the first condition of the present invention; Figure 4 This is a schematic diagram illustrating the continuous planning of multiple routes under the second condition of the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0015] A route planning method for cooperative escort between unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs) includes the following steps: Step 1: Plan the interaction points, O0 is the initial position of the task, O n To determine the target location for the mission, O0O needs to be planned. n The flight path for the unmanned underwater vehicle is O0O. n Straight-line route, O0O nn interaction points are set as horizontal interaction points between the unmanned surface vessel (USV) and the unmanned underwater vehicle (UUV). The n interaction points are O1, O2...On respectively. The first interaction point O1 is the first theoretically necessary point for the USV, which is used to ensure the phased interaction between the USV and the UUV. Step Two: The first and second unmanned surface vessels (USVs) are positioned on either side of the unmanned underwater vehicle's (UUV) flight path, respectively. The flight paths of the USVs are mirror-symmetrical about axis O0O1. The speeds of the USVs and the UUVs are related as follows: ; The first and second unmanned surface vessels have a travel speed of V. USV The unmanned underwater vehicle's speed is V UUV K is the speed relationship coefficient between the unmanned surface vessel and the unmanned underwater vehicle; Step 3: Refer to the appendix Figure 1 The distance S is the distance between the necessary points of the route planning between the first unmanned surface vessel O0O1. S is divided into 3 segments, each including S... 11 S 12 S 13 S 11 S represents the distance of the first segment of the route between the first unmanned surface vessel (USV) O0O1 and USV O0O1. 12 S represents the distance of the second segment of the route between the first unmanned surface vessel (USV) O0O1. 13 Let D be the distance of the third segment between the first unmanned surface vessel O0O1 and the straight-line distance between two adjacent interaction points. In step two, when At that time, the route planning meets the following conditions: ; Step 4: The first and second unmanned surface vessels change direction near each interaction point, crossing into each other's paths. To avoid collisions due to the crossing paths of the two unmanned vessels, calculate the turning radius R of the unmanned vessels: ; in, Let I be the speed of the unmanned surface vessel (USV), and let I be the rotational moment of inertia of the USV. The maximum torque that the unmanned surface vessel's propulsion system can provide. The drag torque of the unmanned surface vessel; Step 5: When the unmanned underwater vehicle reaches point O1, the points near point O1 are designated as O. 11 Point and O 12 Point, O 11 Point O1 is located in front of point O1. The first unmanned surface vessel arrives at point O1 and changes direction using R as the turning radius. 12 The point is located behind point O1, and the first unmanned surface vessel just arrived at point O. 12 The point changes direction with R as the turning radius; Step Six: When planning the route between O1 and O2, the unmanned underwater vehicle's route remains a straight line between two points, with the first unmanned vessel being O. 11 O 21 The second unmanned surface vessel (USV) is O, which is part of the route planning between the two locations. 12 O 22 Flight route planning between regions; Step 7: O2O3, O3O4...O n-1 O n The route planning between O1 and O2 is consistent with the route planning between O1 and O2. Example 2

[0016] See appendix Figure 2 In step three, S 11 Section, S 13 The route segment was optimized using simple methods based on the kinematic and dynamic characteristics of the unmanned surface vessel, resulting in S... 11 Section, S 13 Section and S 12 The route transition at the segment connection is stable and smooth. The route planning for the first and second unmanned surface vessels is an arc-shaped pulse. Example 3

[0017] See appendix Figure 4 In step two, when At that time, the route planning meets the following conditions: ; Where m represents the number of unmanned surface vessel (USV) routes that must pass through between O0O1. For O0O 01 The distance of the flight path, d is O 01 O 02 The distance of the flight route, This represents the communication distance for underwater acoustic communication.

[0018] The At the same time, to avoid capsizing, the turning radius of the unmanned surface vessel must meet the following requirements. At the turning point of the path, make a smooth transition to complete the turn and sail steadily.

[0019] When planning the route between O1 and O2, the unmanned underwater vehicle's route is still a straight line between two points, with the first unmanned vessel being O. 11 O 21 The second unmanned surface vessel (USV) is O, which is part of the route planning between the two locations. 12 O 22 The route planning between the two unmanned surface vessels (USVs) is as shown by the solid line in the figure, and the route planning of the second USV is as shown by the dashed line in the figure. The route planning of the first USV and the route planning of the second USV are rectangular pulses.

[0020] And O2O3, O3O4...On-1 O n The route planning between O1 and O2 is consistent with the route planning between O1 and O2.

[0021] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0022] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A route planning method for cooperative escort between unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs), characterized in that: Includes the following steps: Step 1: Plan the interaction points, O0 is the initial position of the task, O n To determine the target location for the mission, O0O needs to be planned. n The flight path for the unmanned underwater vehicle is O0O. n Straight-line route, O0O n n interaction points are set as horizontal interaction points between the unmanned surface vessel (USV) and the unmanned underwater vehicle (UUV). The n interaction points are O1, O2...On respectively. The first interaction point O1 is the first theoretically necessary point for the USV, which is used to ensure the phased interaction between the USV and the UUV. Step Two: The first and second unmanned surface vessels (USVs) are positioned on either side of the unmanned underwater vehicle's (UUV) flight path, respectively. The flight paths of the USVs are mirror-symmetrical about axis O0O1. The speeds of the USVs and the UUVs are related as follows: ； The first and second unmanned surface vessels have a travel speed of V. USV The unmanned underwater vehicle's speed is V UUV K is the speed relationship coefficient between the unmanned surface vessel and the unmanned underwater vehicle; Step 3: Plan the route between the first unmanned surface vessel O0O1. The distance between the necessary points is S. Divide S into 3 segments, each including S1, S2, and S3. 11 S 12 S 13 S 11 S represents the distance of the first segment of the route between the first unmanned surface vessel (USV) O0O1 and USV O0O1. 12 S represents the distance of the second segment of the route between the first unmanned surface vessel (USV) O0O1. 13 Let D be the distance of the third segment between the first unmanned surface vessel O0O1 and the straight-line distance between two adjacent interaction points. In step two, when At that time, the route planning meets the following conditions: ； Step 4: The first and second unmanned surface vessels change direction near each interaction point, crossing into each other's paths. To avoid collisions due to the crossing paths of the two unmanned vessels, calculate the turning radius R of the unmanned vessels: ； in, Let I be the speed of the unmanned surface vessel (USV), and let I be the rotational moment of inertia of the USV. The maximum torque that the unmanned surface vessel's propulsion system can provide. The drag torque of the unmanned surface vessel; Step 5: When the unmanned underwater vehicle reaches point O1, the points near point O1 are designated as O. 11 Point and O 12 Point, O 11 Point O1 is located in front of point O1. The first unmanned surface vessel arrives at point O1 and changes direction using R as the turning radius. 12 The point is located behind point O1, and the first unmanned surface vessel just arrived at point O. 12 The point changes direction with R as the turning radius; Step Six: When planning the route between O1 and O2, the unmanned underwater vehicle's route remains a straight line between two points, with the first unmanned vessel being O. 11 O 21 The second unmanned surface vessel (USV) is O, which is part of the route planning between the two locations. 12 O 22 Flight route planning between regions; Step 7: O2O3, O3O4...O n-1 O n The route planning between O1 and O2 is consistent with the route planning between O1 and O2.

2. The route planning method for coordinated escort between unmanned surface vessels and unmanned underwater vehicles according to claim 1, characterized in that: In step two, when At that time, the route planning meets the following conditions: ； Where m represents the number of unmanned surface vessel (USV) routes that must pass through between O0O1. For O0O 01 The distance of the flight path, d is O 01 O 02 The distance of the flight route, This represents the communication distance for underwater acoustic communication.

3. The route planning method for coordinated escort between unmanned surface vessels and unmanned underwater vehicles according to claim 2, characterized in that: The At the same time, to avoid capsizing, the turning radius of the unmanned surface vessel must meet the following requirements. At the turning point of the path, make a smooth transition to complete the turn and sail steadily.

4. The route planning method for coordinated escort between unmanned surface vessels and unmanned underwater vehicles according to claim 3, characterized in that: In step four, ； Where k is a constant, which is related to the shape of the hull and hydrodynamics.

5. The route planning method for coordinated escort between unmanned surface vessels and unmanned underwater vehicles according to claim 4, characterized in that: In step four, ； Where L is the length of the unmanned surface vessel.

6. The route planning method for coordinated escort between unmanned surface vessels and unmanned underwater vehicles according to claim 1, characterized in that: In step three, S 11 Section, S 13 The route segment was optimized using simple methods based on the kinematic and dynamic characteristics of the unmanned surface vessel, resulting in S... 11 Section, S 13 Section and S 12 The route transitions smoothly and stably at the segment connection.

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