1807 results about "Underwater vehicle" patented technology

The invention provides an underwater vehicle multi-source information fusion accurate navigation method and system. The method comprises the following steps: firstly, acquiring inertial navigation data, DVL data and ocean current information of an underwater vehicle and observation information of a distance between the underwater vehicle and a beacon, and preprocessing the inertial navigation data, the DVL data and the ocean current information; then, establishing a state model according to the kinematics principle of the underwater vehicle, and establishing an observation model by combining various types of information; carrying out fusion processing on the state model and the observation model by adopting a self-adaptive Kalman filtering algorithm; and finally, estimating the current position of the underwater vehicle according to the fused state vector, comparing the current position with a preset target position to calculate a deviation, and correcting the deviation by adjusting a rudder angle and the rotating speed of a propeller. According to the method, multi-source information is integrated, innovation is carried out on construction of a state model and an observation model and position estimation and deviation correction, adaptive Kalman filtering is adopted, and the method has the advantages that the navigation precision is improved, the ocean current influence is considered, adaptive adjustment is realized, and real-time navigation is realized.

The invention relates to an underwater image processing technology in the field of underwater autonomous perception, in particular to an underwater low-quality image enhancement method based on a Laplacian pyramid and contrast learning. Comprising the following steps: S1, image input and multi-scale decomposition: decomposing an input image into a low-frequency residual layer and a plurality of high-frequency detail layers through Laplacian pyramid decomposition; s2, inputting the low-frequency residual error layer into a global illumination and color correction sub-module to obtain an enhanced low-frequency residual error layer; s3, inputting the enhanced low-frequency residual error layer and the multi-scale high-frequency detail layer into a frequency domain enhancement feature module to obtain multi-scale enhanced high-frequency detail layer output; s4, performing progressive reconstruction on the enhanced low-frequency layer output and the high-frequency enhancement layer output of each scale according to the inverse process of the Laplacian pyramid; and S5, outputting a result and applying. The method can be used for sharpening optical image data in the operation task of the autonomous underwater vehicle, and the image quality is improved.

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention relates to the technical field of underwater vehicle drainage, and discloses an air and carbon dioxide linkage drainage device and an underwater vehicle, the air and carbon dioxide linkage drainage device comprises a power unit, an air unit, a pressure reduction unit and a flow guide assembly, and the power unit is provided with a first storage cavity; the first storage chamber is used for storing liquid carbon dioxide, the air unit is provided with a second storage chamber, the second storage chamber is used for storing high-pressure air, the pressure reduction unit is provided with a pressure reduction chamber, the first air inlet is communicated with the pressure reduction chamber, the first air outlet is communicated with the water ballast space, and a first heating source is arranged in the second storage chamber; the heating source is suitable for generating heat after receiving the signal so as to heat the air stored in the second storage chamber. The technical problems that in the air release process and when the air is in contact with water, the temperature is reduced, so that the volume of the air is reduced, and the drainage capacity of the air and carbon dioxide linkage drainage device is reduced are solved.

This disclosure provides an adaptive STSMC hierarchical control method for depth tracking of an underwater vehicle. The method includes: using an adaptive line-of-sight guidance algorithm to estimate the vehicle's angle of attack in real time and obtain an expected pitch angle; employing a nonlinear interference observer based on a sliding mode surface error to detect unknown interference; and applying an STSMC controller with adaptive saturation compensation to determine the expected control rudder angle from the sliding mode surface error, the expected pitch angle, and the observed interference. The adaptive saturation compensation corrects the rudder angle based on the saturation deviation, which is determined by the previously calculated expected control rudder angle and the actual output rudder angle at the previous moment. By introducing an adaptive saturation compensator in the dynamic control layer, the issue of rudder angle saturation is mitigated, thereby enhancing both control performance and stability.

The invention provides a method and system for measuring resistance in an underwater vehicle towing test, and relates to the technical field of underwater vehicle hydrodynamic performance testing, and the method comprises three links of gravity center adjustment, measurement data processing and uncertainty analysis. Firstly, it is ensured that the gravity center and the buoyancy center of a test model are consistent in height, model attitude stability is ensured, and resistance measurement errors caused by attitude changes are eliminated. Secondly, measuring the sailing resistance of the test model in the towing test, and post-processing the measured data to obtain the total resistance coefficient of the test model at the test temperature; and finally, quantizing errors of each link and synthesizing expansion uncertainty by adopting a deviation limit and precision limit combined uncertainty analysis method. Compared with a traditional single-index evaluation method, the method not only can reveal error sources and quantify the influence of each link on the measurement result, but also can accurately reflect the composite effect of errors, and ensures the reliability of the resistance measurement result.

The invention relates to the technical field of underwater vehicles, in particular to a modular supercritical carbon dioxide phase change drainage device and an underwater vehicle. The modular supercritical carbon dioxide phase change drainage device comprises a plurality of power unit sets, a plurality of pressure reduction units and a flow guide assembly, each power unit set comprises a plurality of power units, each power unit is provided with a first storage cavity, and the first storage cavity is used for storing liquid carbon dioxide; the plurality of pressure reduction units are in one-to-one correspondence with the plurality of power unit groups, each pressure reduction unit is provided with a pressure reduction chamber, the pressure reduction chambers selectively communicate with the corresponding first storage chambers, and the pressure reduction chambers of the plurality of pressure reduction units communicate with one another; the flow guide assembly is provided with a first air inlet and a first air outlet, the first air inlet communicates with at least one of the multiple pressure reduction cavities, and the first air outlet communicates with the water ballast space. The modular supercritical carbon dioxide phase change drainage device is small in occupied space, safe, efficient and high in drainage capacity.

Disclosed are an inertial baseline integrated navigation method, and a product, a medium, a device and an autonomous underwater vehicle, relating to the field of navigation. The method comprises: in an initial stage of the starting of an inertial baseline integrated navigation system, an SINS using a USBL to assist with initial alignment and obtaining initial attitude information (1); when the inertial baseline integrated navigation system enters a formal navigation operating state, the SINS performing pure inertial navigation solving on the basis of the initial attitude information, so as to obtain navigation parameter calculation values including errors (2), wherein the navigation parameter calculation values comprise the attitude, velocity and position; on the basis of the navigation parameter calculation values including the errors, constructing a navigation state error model based on a Lie group (3); on the basis of a Huber function, constructing a generalized maximum likelihood estimation model (4); according to the navigation state error model based on a Lie group and the generalized maximum likelihood estimation model, establishing an integrated navigation robust Kalman filtering algorithm (5); on the basis of the integrated navigation robust Kalman filtering algorithm, performing filtering estimation on the inertial baseline integrated navigation system, so as to obtain a state estimation value (6); and on the basis of the state estimation value, performing feedback updating on navigation parameters, and on the basis of the updated navigation parameters, performing navigation. The method can improve the integrated filtering precision and positioning and orientation precision.

The invention discloses a seabed sonar image processing method based on semantic segmentation. The method comprises the following steps: S1, obtaining preprocessed sonar image blocks; s2, generating a submarine landform boundary priori map corresponding to the preprocessed sonar image blocks pixel by pixel; s3, an improved U-Net double-branch semantic segmentation network is constructed, the improved U-Net double-branch semantic segmentation network comprises a semantic branch and a boundary branch, and a landform mutual feedback gating module is configured in each scale jumper connection layer; s4, obtaining a fusion feature map; s5, deploying to the autonomous underwater vehicle to form an onboard reasoning model; and S6, performing online semantic segmentation reasoning on the preprocessed sonar image block acquired in real time by using the onboard reasoning model, and outputting a semantic category diagram and a boundary vector diagram corresponding to the preprocessed sonar image block. According to the method, the average mIoU index of the model is improved in a small-target and multi-category hybrid scene.

The invention relates to the technical field of autonomous navigation, in particular to an AUV (Autonomous Underwater Vehicle) multi-sensor fusion autonomous navigation system based on ant colony-particle swarm collaboration.The AUV multi-sensor fusion autonomous navigation system is characterized in that a sensor weight decision module constructs a pheromone matrix based on an ant colony algorithm, retrieves a mapping relation between historical errors and pheromone concentration in real time and dynamically generates a sensor priority sequence; adaptive weight distribution in a data conflict scene is realized; the dynamic path correction module is combined with a particle swarm algorithm and pheromone concentration gradient constraint to balance global path optimality and real-time obstacle avoidance requirements in optical camera obstacle deviation correction; and the closed-loop coupling module is used for converting sonar and geomagnetic residual errors into pheromone concentration correction values and confidence coefficient regulation factors by fusing residual error compensation and path tracking error feedback, so that an error traceability-weight calibration-path optimization closed loop is formed, sensor drift is inhibited, and the long-endurance navigation precision is improved.

The invention discloses an AUV (Autonomous Underwater Vehicle) path tracking method based on predicted line-of-sight angle guidance, which comprises the following steps: acquiring a real-time navigation state through inertial navigation, acoustic positioning and DVL fusion, introducing a fixed time disturbance predictor to estimate a sideslip angle and an ocean current velocity component on line, adaptively adjusting a line-of-sight distance according to transverse error-navigational speed-curvature, and tracking the path of the AUV. Calculating a predicted line-of-sight angle and outputting an expected heading; and then a propeller and a control surface are driven by adopting a fixed time feedback control law, so that track and attitude error fixed time convergence of the under-actuated AUV under the conditions of strong time-varying ocean current and large sideslip is realized. The method does not need a side thruster or an ocean current prior model, is simple in algorithm structure, is suitable for a high-speed high-curvature track, and has the advantages of high speed, high steady-state precision, low energy consumption and high robustness.

The invention relates to the technical field of vehicle navigation and path planning, and provides a marine inertial navigation path planning method and system, and the method comprises the steps: obtaining environment risk information of a path corresponding to the driving direction of an autonomous underwater vehicle; adjusting a deviation tolerance threshold value corresponding to an inertial navigation system on the autonomous underwater vehicle according to the environmental risk information; acquiring a position calculation deviation of the inertial navigation system; the position calculation deviation is compared with a deviation tolerance threshold value, and triggering of a communication correction action is decided according to the backlog condition of the emergency event data; and when the communication correction action is triggered, planning and executing a communication correction track to realize position correction of the autonomous underwater vehicle. The method has the advantages that the navigation strategy is dynamically adjusted according to the environment risk and the data backlog condition, the communication correction opportunity is intelligently decided, and the autonomous navigation capability and the task adaptability of the autonomous underwater vehicle in the complex marine environment are improved.

The invention discloses a multi-AUV adaptive path planning method for a complex underwater environment, and belongs to the technical field of cooperative control of autonomous underwater vehicles, and the method comprises the following steps: S1, carrying out the grid division of a sea area, and generating a local observation tensor; s2, constructing a Markov decision model according to the local observation tensor and the navigation state tensor; s3, inputting the local observation tensor and the navigation state tensor into a double-branch cross attention network to generate Q value estimation; s4, adjusting Q value estimation by using the dual Q network; s5, distributed collaborative learning is carried out; and S6, generating an initial path according to the adjusted Q value estimation, and correcting the initial path by using a distributed collaborative learning result to obtain a global optimal path. According to the method, the problem of insufficient path planning robustness caused by dynamic interference and static obstacle coupling in a complex underwater environment is solved, and an end-to-end optimization link from local observation to global decision is formed.

According to the method suitable for solving the transition turbulence flow field of the underwater vehicle containing the temperature gradient, CFD solving is carried out by directly calling an underwater boundary layer transition turbulence model considering the temperature gradient, and prediction of the boundary layer transition position and the transition process of the underwater vehicle under the wall surface thermal control condition is achieved. Firstly, an incompressible similarity equation set containing a temperature equation is solved, an underwater boundary layer characteristic parameter database is established, linear stability analysis is carried out under a given flow working condition, and transition momentum thickness Reynolds numbers # imgabs0 # under different flow working conditions are obtained; fitting to obtain a fitting relational expression between a transition momentum thickness Reynolds number # imgabs1 # and a flow working condition as a transition criterion; and implanting the transition criterion into a source item of the transition model to obtain an underwater boundary layer transition prediction model considering the temperature gradient, and finally modifying a generation source item and a damage source item of a turbulent energy transport equation in the Menter SST turbulence mode according to the transition prediction model to obtain an underwater boundary layer transition turbulence model considering the temperature gradient.

The invention provides an underwater positioning system combining sound ray propagation modeling and multipath interference suppression, which relates to the technical field of marine equipment and comprises a self-adaptive underwater sound sensing and environment cognition module, an environment self-adaptive sound ray propagation modeling module, a multipath suppression and direct wave extraction module and a multi-dimensional information fusion and self-adaptive positioning calculation module. The self-adaptive underwater sound sensing and environment cognition module is used for realizing multi-mode sensing and real-time environment feature recognition of underwater sound signals, and the environment self-adaptive sound ray propagation modeling module is used for constructing a dynamically updated sound wave propagation model and providing a propagation path and time constraint for positioning calculation; the multi-path suppression and direct wave extraction module is used for carrying out multi-path signal separation and extracting direct wave features with confidence marks, and the multi-dimensional information fusion and self-adaptive positioning calculation module is used for completing high-precision positioning calculation; according to the system, deep fusion of an environment model and signal processing can be realized, and the positioning precision and robustness of the underwater vehicle in a complex underwater sound environment are remarkably improved.

The invention relates to the technical field of underwater vehicle fault diagnosis, in particular to a multi-mode propeller fault diagnosis method and diagnosis system. Comprising the following steps: collecting and preprocessing multi-modal data; quantizing the quality of the acoustic signal data and the visual signal data obtained in the previous step in real time; constructing a quality sensing gating network model; and training a quality sensing gating network model, and outputting a propeller fault type by using the trained quality sensing gating network model. The characteristics of the low-quality mode are dominated, enhanced and corrected through the characteristics of the high-quality mode, the interaction strength of the depth characteristics is actively controlled in real time from the source quality of signals, and high robustness and accuracy of propeller fault diagnosis can still be kept in a complex and severe environment.

The invention relates to the field of underwater detection, and provides a seabed static small target detection method suitable for an underwater vehicle, and the method comprises the steps: obtaining a plurality of underwater sonar images through a two-dimensional imaging sonar of the underwater vehicle; inputting a to-be-detected underwater sonar image into the underwater target detection model to extract features and detect the features to obtain an object category, bounding box coordinates and a confidence score; according to the method, target features are automatically extracted through a deep neural network in an end-to-end mode, a CAA module is introduced to capture a context dependency relationship between long-distance pixels in an image, a feature map with higher expressive power is generated by integrating context information, a model is helped to better distinguish a target object from a background, and the accuracy of the target object is improved. Therefore, the detection accuracy is improved.

The invention particularly relates to an underwater vehicle multi-energy hybrid energy storage system and a coordinated energy management strategy. The system comprises a lithium ion battery, a super capacitor and a fuel cell applying a proton exchange membrane which are respectively connected to a direct current bus. The method for coordinating the energy management strategy comprises the following steps: acquiring a current motion parameter and a current energy parameter of an underwater vehicle; inputting the current motion parameter, the current energy parameter and the expected navigational speed into a load prediction model based on a BP neural network, and estimating the expected total power at the next moment; and determining a corresponding action strategy according to the current operation mode of the underwater vehicle, and performing power distribution on the expected total power based on the action strategy. According to the scheme, the hybrid energy system can perform smooth working mode switching and optimal power distribution under different working conditions.

The invention relates to an underwater vehicle technology, in particular to an unmanned underwater vehicle. The whole unmanned underwater vehicle is designed to be in a bionic fish shape and comprises a head mechanism, a skeleton structure, a tail mechanism, an equipment box, a marching system and a shell, the head mechanism, the shell and the tail mechanism are sequentially connected, the skeleton structure is arranged in the shell and comprises a plurality of spine bodies and rib assemblies, and the rib assemblies are arranged in the shell. Silica gel is arranged between the spine bodies; the rib assembly and the spine body are in one-to-one correspondence and are connected, the rib structure comprises a bearing and two rib frames connected to the bearing, the two rib frames are connected to the bearing to generate relative rotation, the rib frames are used for supporting and arranging an equipment box, and the equipment box is used for arranging instruments and equipment; the problems that in the prior art, when an underwater vehicle advances underwater, generated resistance is large, advancing is not flexible enough, the space utilization rate is low, the impact resistance and deformation resistance are poor, and tearing and damage are prone to occurring are solved.

The invention relates to an anti-offset wireless charging coupler for an underwater vehicle, which solves the problem that the multi-dimensional offset charging efficiency is reduced due to ocean current by adopting the collaborative design of a grouped serial-wound transmitting end and a geometric adaptive receiving end. The transmitting end is formed by connecting an outer ring winding and an inner ring winding in series, the outer ring provides wide-area magnetic field coverage, the inner ring strengthens the local magnetic field intensity, and the ferrite array is combined to suppress magnetic leakage to cope with horizontal and rotary offset; the receiving end adopts a curved surface type structure and fits the geometric contour of an aircraft shell, interference of a rotation offset delta phi on a magnetic field is limited through optimal design of a coverage angle theta, and magnetic flux is concentrated by a ferrite array on the back side to improve the coupling efficiency. The system does not need complex mechanical adjustment, realizes energy transmission through magnetic field coupling, keeps stable efficiency in seawater, fresh water and air environments, has the advantages of compact structure, high offset resistance, wide medium adaptability and high expandability, and remarkably improves the reliability and cruising ability of wireless charging of the underwater vehicle.

The invention provides an underwater target multi-sensor fusion magnetic field measurement system in a complex magnetic environment, which relates to the technical field of marine equipment and comprises a multi-mode magnetic field sensing module, an attitude correlation correction module, a layered fusion processing module and an environment self-adaption and magnetic anomaly detection module. The multi-modal magnetic field sensing module is responsible for collecting multi-dimensional and multi-type original magnetic field data around the underwater vehicle and constructing a complete magnetic field observation basis, and the attitude correlation correction module is used for eliminating the influence of the motion attitude change of the underwater vehicle on magnetic field measurement. The hierarchical fusion processing module performs hierarchical fusion on multi-sensor data; the environment self-adaption and magnetic anomaly detection module realizes background magnetic field separation, interference suppression and magnetic anomaly target identification; according to the system, the magnetic field measurement precision and robustness of the underwater vehicle in a complex magnetic environment can be improved, and high-reliability magnetic field feature extraction and situation awareness functions are realized.

The invention relates to a DRL-based AUV (Autonomous Underwater Vehicle) path planning and obstacle avoidance method in a partially observable environment, which comprises the following steps of: firstly, executing an AUV path planning and obstacle avoidance task under the condition that marine environment information is partially observable; secondly, constructing an underwater environment model and an AUV kinetic model, and constructing a dynamic and static separated dual-channel adaptive sensing model through local environment information acquired by detection equipment; then, path planning is modeled as a Markov decision process, and a multi-objective optimization reward function is designed for collaborative optimization; finally, an improved maximum entropy SAC algorithm is combined with a priority experience playback mechanism to train a strategy network, a gliding mode is dynamically triggered through a physical constraint layer, attitude angle and thrust output is corrected in real time, and the safety boundary condition is monitored in real time. According to the method, the real-time performance of path planning, the dynamic and static obstacle avoidance success rate and the ocean current utilization rate under the complex sea condition can be remarkably improved, and a high-robustness autonomous navigation solution is provided for ocean exploration.

The invention discloses a cabin section structure capable of verifying the deformation coordination capability of a large buoyant raft vibration isolation system, which comprises a pressure-resistant hull shell plate and pressure-resistant hull ribs, and is characterized in that the sizes of the pressure-resistant hull shell plate and the pressure-resistant hull ribs are the same as the structural parameters of a real ship; the cabin section structure further comprises an end-thickened pressure-resistant shell ring, an oversized rib and a buoyant raft base. The end-thickened pressure-resistant shell rings are arranged at the two ends of the pressure-resistant hull shell plate. The oversized ribs are arranged at the two ends of the cabin section structure, and the distance between the two oversized ribs is equal to the distance between the two cabin walls of the underwater vehicle; the buoyant raft base is installed near the horizontal center line of the port and the starboard of the pressure-resistant hull shell plate. According to the cabin section structure, actual structure parameters of a real ship are adopted, a large external pressure test device is adopted for simulating the bearing condition which is consistent with the actual bearing of the real ship, real deformation can be accurately generated, and the most direct basis is provided for verifying the deformation compensation capacity of elastic components of the buoyant raft system under the limit depth.

The invention discloses an underwater environment three-dimensional reconstruction method, device and equipment and a storage medium, and relates to the technical field of underwater robots, and the underwater environment three-dimensional reconstruction method comprises the steps: transmitting laser to a target object, and collecting a laser reflection image; extracting pixel coordinates of laser stripes from the laser reflection image; calculating a three-dimensional space coordinate of the laser point based on the pixel coordinate and a camera internal reference matrix; generating a control instruction according to the depth information of the three-dimensional space coordinates, and sending the control instruction to an underwater vehicle to enable the underwater vehicle to execute equidistant diameter circular motion and collect and feed back three-dimensional point cloud data under different poses; and fusing the three-dimensional point cloud data under different poses to obtain a target three-dimensional point cloud model, and completing three-dimensional reconstruction. According to the invention, three-dimensional reconstruction of the underwater environment can be efficiently and accurately realized at low cost, and powerful technical support is provided for underwater exploration and scientific research.

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.

The invention relates to the technical field of underwater navigation and positioning, and particularly discloses a wide-area very-low-frequency radio navigation and underwater sound combined underwater navigation and positioning method, which comprises the following steps that: a very-low-frequency navigation transmitting station transmits a very-low-frequency radio navigation time service signal; the semi-submersible acoustic beacon receives a very-low-frequency radio navigation time service signal; performing position calibration and time synchronization; the semi-submersible acoustic beacon emits an underwater acoustic navigation signal, and the underwater carrier calculates the three-dimensional coordinates of the underwater carrier according to the received underwater acoustic navigation signal. According to the invention, a shore-based very-low-frequency radio navigation and underwater sound combined navigation mode is adopted, and a very-low-frequency radio navigation time service signal has a certain underwater entry depth, so that the problem of time synchronization between semi-submersible acoustic beacons is solved, and auxiliary calibration of the positions of the semi-submersible acoustic beacons is provided; the semi-submersible acoustic beacon emits an underwater navigation signal to realize navigation and positioning of a deepwater underwater carrier, and reliable navigation service with wide area coverage, high precision and low power consumption is provided for the underwater carrier.

The invention relates to a cooperative hunting method and device for multiple underwater vehicles and computer equipment. The method comprises the following steps: acquiring operation information of a plurality of underwater vehicles and a target body, transmission channel information of each underwater vehicle and underwater environment information, and constructing each underwater vehicle model and a target body model based on the operation information of each underwater vehicle and the target body; constructing an underwater acoustic channel model based on the underwater environment information, and constructing a covert communication model between the underwater vehicles through a covert communication modeling strategy based on the transmission channel information of the underwater vehicles; and acquiring observation information of each underwater vehicle and action information of each underwater vehicle, and based on the observation information of each underwater vehicle and the action information of each underwater vehicle, through each underwater vehicle model, the target body model, the underwater acoustic channel model and the covert communication model, generating a cooperative encircling path of each underwater vehicle. By adopting the method, the efficiency of multi-agent collaborative surrounding in a complex task scene can be improved.

The invention provides an underwater positioning system based on effective sound velocity compensation and multipath equalization, which relates to the technical field of marine equipment and comprises an environment sensing and modeling module, a signal propagation characteristic analysis module, an intelligent signal processing and distance measuring module and a fusion positioning and quality evaluation module. The environment sensing and modeling module is used for constructing a dynamic three-dimensional sound velocity field and evaluating the reliability of the environment, the signal propagation characteristic analysis module is used for establishing a multi-path propagation model and extracting path characteristic parameters, and the intelligent signal processing and distance measuring module is used for suppressing multi-path interference and realizing high-precision distance measuring calculation. The fusion positioning and quality evaluation module is used for multi-source information fusion positioning and forming a quality feedback closed loop; the system can effectively cope with sound velocity temporal and spatial change and multipath interference in a complex marine environment, remarkably improves the precision, stability and robustness of underwater positioning of the underwater vehicle, and is suitable for the fields of deep sea detection, ocean engineering and the like.

The invention relates to the technical field of underwater wireless charging, in particular to a coupling mechanism and system applied to underwater capture type docking wireless charging. The coupling mechanism comprises a connection end coupling mechanism and an aircraft end coupling mechanism. The connection end coupling mechanism comprises a connection end magnetic core and a connection end coil arranged on the outer side of the connection end magnetic core. The aircraft end coupling mechanism is of an opening and closing structure and comprises two aircraft end magnetic cores arranged symmetrically and two aircraft end coils arranged on the inner sides of the aircraft end magnetic cores. After the aircraft end coupling mechanism surrounds the outer side of the connection end coupling mechanism, the bidirectional electric energy transmission function can be achieved. According to the invention, docking between underwater vehicles of different sizes and the same connection node can be realized, so that the universality of the wireless charging system is improved; and two-way transmission of energy is achieved, and the requirements of diversified underwater operation are met.

The invention discloses a method for determining structure information of a contraction section of water tunnel equipment and a related product, and is applied to the technical field of information processing. The method comprises the following steps: acquiring at least two candidate structural feature groups of a type of pipelines; according to the at least two candidate structural feature groups, determining flow field quality response information corresponding to each candidate structural feature group in the at least two candidate structural feature groups; according to the flow field quality response information corresponding to each candidate structural feature group in the at least two candidate structural feature groups, screening M types of target structural features from the N types of candidate structural features; and according to the M types of target structure features, determining water tunnel pipeline information of one type of pipelines. According to the method, the water tunnel pipeline information of one type of pipelines can be determined based on the accurately screened multiple types of target structure features, the performance optimization of the water tunnel equipment can be more efficiently and comprehensively realized, and the research process of the hydrodynamic characteristics of the underwater vehicle is accelerated.