CN108444476B - Polar region collaborative navigation method of multi-underwater unmanned vehicle considering underwater acoustic communication delay - Google Patents
Polar region collaborative navigation method of multi-underwater unmanned vehicle considering underwater acoustic communication delay Download PDFInfo
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Abstract
The invention provides a polar region collaborative navigation method of a multi-underwater unmanned vehicle, which considers underwater acoustic communication delay and comprises the following steps: the master unmanned underwater vehicle and the slave unmanned underwater vehicle perform accurate time synchronization; the method comprises the steps that a main underwater unmanned aircraft determines accurate navigation information of the main underwater unmanned aircraft in a polar region; determining rough navigation information of the underwater unmanned vehicle in a polar region; the main underwater unmanned vehicle utilizes the ultra-short baseline system to measure the azimuth and distance information between the main underwater unmanned vehicle and the slave underwater unmanned vehicle; the master unmanned underwater vehicle sends information to the slave unmanned underwater vehicle; obtaining accurate navigation information of the underwater unmanned vehicle; judging whether the current filtering times are more than or equal to the total filtering times: if not, skipping to the step three; and if the difference is satisfied, ending the process. The invention can effectively realize the polar region collaborative navigation of the multi-underwater unmanned vehicle considering the underwater acoustic communication delay, and has better precision compared with the polar region collaborative navigation method of the underwater unmanned vehicle not considering the underwater acoustic communication delay.
Description
Technical Field
The invention relates to a polar region collaborative navigation method of a multi-underwater unmanned aircraft considering underwater acoustic communication delay, which is a collaborative navigation method suitable for the situation that the underwater unmanned aircraft has underwater acoustic communication delay in the polar region navigation process, and belongs to the field of collaborative navigation methods of the multi-underwater unmanned aircraft.
Background
Unmanned underwater vehicles have gained tremendous development in recent years as an important piece of equipment for ocean development. The underwater unmanned vehicle can complete important tasks such as ocean investigation, crash airplane searching and the like. The development of the underwater unmanned vehicle in the future must follow two important trends, namely sailing towards farther and deeper sea areas, and developing towards the goal of being more intelligent and completing more complex tasks. Navigation is crucial as a prerequisite for completing various tasks. The invention mainly focuses on opportunities and challenges brought to navigation of the underwater unmanned vehicle by the two development directions of the underwater unmanned vehicle. On one hand, the navigation problem of the underwater unmanned vehicle in a polar region is solved; on the other hand, a fleet of unmanned underwater vehicles are used to accomplish the task. The invention mainly solves the polar region collaborative navigation problem of the unmanned underwater vehicle under multiple water conditions under the condition of delay of underwater acoustic communication.
Team cooperation is an indispensable part in human work and study. The underwater unmanned vehicle can greatly improve the working efficiency of people, and is also suitable for the underwater unmanned vehicle. There is always a limit to the intelligent development of a single unmanned underwater vehicle, and the cooperation of multiple unmanned underwater vehicles breaks the limit. Especially, the multi-underwater unmanned vehicle has great advantages over a single underwater unmanned vehicle in terms of time and efficiency. The common collaborative navigation of the multi-underwater unmanned vehicle mainly has two forms including a parallel mode and a master-slave mode. A typical parallel underwater unmanned vehicle collaborative navigation system is a collaborative navigation system developed by the (Virginia Tech) research team. And transmitting the position information to surrounding neighbors in an underwater sound broadcasting mode. Unlike the parallel mode, the underwater unmanned vehicle in the master-slave mode collaborative navigation system can have different configurations. Typical master-slave type multi-underwater unmanned vehicle collaborative navigation systems are the mobile baseline System of the University of Porto, n.cruz research group, and the CADRE System of the ministry of martial arts (MIT) (Cooperative automation for Distributed Reconnaissance and Exploration System). Scholars have proposed many new methods for the problem of multi-agent collaborative navigation in non-polar regions, but these methods are not suitable for navigation of unmanned vehicles in the polar regions under the condition of multiple underwater environments. Documents (Xiao G D, Wang A T, Wang B, et al.2016A Cooperative Navigation method Inertial Technology and Navigation 586) and (Xiao G D, Wang B, Deng Z H, et al.2017Anoustic Communication Time Delays Compensation application for Master-Slave AUV Cooperative Navigation IEEE Navigation Journal 17(2) 504-. However, these methods are affected by the rapid convergence of the meridian when applied in polar regions. And thus only in the non-polar region. Meanwhile, the filtering algorithm is based on a standard Kalman filtering algorithm, and the standard Kalman filtering algorithm is only suitable for a dynamic linear system model. Compared with the fire heat development of the collaborative navigation of the multi-underwater unmanned aircraft in the non-polar region, the collaborative navigation of the multi-underwater unmanned aircraft in the polar region is in the starting stage, and no article related to the collaborative navigation of the multi-underwater unmanned aircraft exists at present. The method provided by the invention mainly solves the problem of polar region multi-underwater unmanned vehicle collaborative navigation with a nonlinear system model considering underwater acoustic communication delay.
Disclosure of Invention
The invention aims to provide a polar region collaborative navigation method of a multi-underwater unmanned vehicle, which considers underwater acoustic communication delay, and is a method which can be effectively used for polar region collaborative navigation of the multi-underwater unmanned vehicle and considers the underwater acoustic communication delay.
The purpose of the invention is realized as follows: the method comprises the following steps:
the method comprises the following steps: the master unmanned underwater vehicle and the slave unmanned underwater vehicle perform accurate time synchronization;
step two: inputting polar region collaborative navigation time T and a filtering period T of the underwater unmanned vehicle considering communication delay, calculating total filtering times N, and setting initial filtering times K to be 0;
step three: adding 1 to the filtering times K;
step four: the main underwater unmanned vehicle determines the accurate navigation information of the main underwater unmanned vehicle in the polar region by using the self-carried high-precision navigation equipment and the polar region navigation algorithm;
step five: determining rough navigation information of the underwater unmanned vehicle in a polar region by using self-carried low-precision navigation equipment and a polar region navigation algorithm;
step six: the main underwater unmanned vehicle utilizes the ultra-short baseline system to measure the azimuth and distance information between the main underwater unmanned vehicle and the slave underwater unmanned vehicle;
step seven: the master unmanned underwater vehicle sends information to the slave unmanned underwater vehicle;
step eight: the slave unmanned underwater vehicle determines communication delay time by combining the received information sent by the master unmanned underwater vehicle;
step nine: according to the communication delay time, an improved filtering algorithm considering the underwater acoustic communication delay is utilized to fuse and obtain accurate navigation information of the underwater unmanned vehicle;
step ten: judging whether the current filtering times K are more than or equal to the total filtering times N: when K is not larger than N, skipping to the third step for repeated execution; and when K is larger than or equal to N, finishing the polar region collaborative navigation method of the multi-underwater unmanned aircraft considering communication delay.
The invention also includes such structural features:
1. the fifth step specifically comprises: selecting a grid coordinate system G as a navigation coordinate system, and establishing the following state equation from the underwater unmanned vehicle by considering the navigation environment characteristics of a polar region:
wherein the content of the first and second substances,
is the angle of the misalignment and,
is the speed error, δ Re＝[δx δy δz]TIs the position error, fGIs specific force;
is a direction cosine matrix from the carrier coordinate system b to the grid coordinate system G,
a direction cosine matrix from a grid coordinate system G to a terrestrial coordinate system e; epsilonbIs gyro drift which is constant drift of gyro
And gyro random drift which can be regarded as zero mean white Gaussian noise
Composition is carried out; vbIs zero offset of the accelerometer and is shifted by the accelerometer constant
And accelerometer random drift
Composition, the accelerometer random drift can be seen as gaussian white noise; delta KdAnd
respectively representing scale factor error and random velocity error, tau, of a Doppler velocimetervIs the correlation time, and wvIs white noise; beta is aaIs zero-mean white noise and represents an ultra-short baseline error.
2. The eighth step is specifically: the complete equation of the modified adaptive Kalman filtering algorithm considering the underwater acoustic communication delay and being applicable to the polar region collaborative navigation method of the multi-underwater unmanned aircraft is expressed as follows:
wherein phik,k-1，Γk,k-1And HkRespectively in discrete form of system matrix, control matrix and measuring matrix; p is the covariance matrix of the state; kkIs the adaptive kalman filter gain; the mean and variance of the system noise matrix W are respectively
And
and
is the mean and variance of the measured noise matrix V; dk＝(1-b)/(1-bk) And 0 < b < 1 is a forgetting factor, and:
compared with the prior art, the invention has the beneficial effects that: the invention solves the problem that the traditional underwater unmanned vehicle collaborative navigation method cannot be applied in a polar region. Meanwhile, the influence of the underwater acoustic communication delay on a navigation result is considered, a filtering algorithm is improved, and an adaptive Kalman filtering algorithm considering the underwater acoustic communication delay is designed. The polar region collaborative navigation method of the multi-underwater unmanned aircraft considering the underwater acoustic communication delay can effectively solve the collaborative navigation problem of the multi-underwater unmanned aircraft in the polar region. The master unmanned underwater vehicle is provided with the high-precision inertial navigation system, the slave unmanned underwater vehicle only needs to be provided with the low-precision inertial navigation system, and the navigation precision of the slave unmanned underwater vehicle can be improved through the polar region collaborative navigation algorithm, so that the invention can improve the task execution efficiency of the unmanned underwater vehicle and also save the navigation cost.
Drawings
FIG. 1 is a flow chart of a polar region collaborative navigation method of a multi-underwater unmanned vehicle, which considers underwater acoustic communication delay and is provided by the invention;
FIG. 2 is a comparison of an attitude error curve corrected from an underwater unmanned vehicle in a polar region collaborative navigation method of the multi-underwater unmanned vehicle considering underwater acoustic communication delay, provided by the invention;
FIG. 3 is a comparison of corrected speed error curves from an underwater unmanned vehicle in a polar region collaborative navigation method of a multi-underwater unmanned vehicle considering underwater acoustic communication delay according to the present invention;
fig. 4 is a comparison of corrected position error curves from an underwater unmanned vehicle in the polar region collaborative navigation method of the multi-underwater unmanned vehicle considering underwater acoustic communication delay, which is proposed by the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Combination drawing
The invention mainly aims to solve the problem that the traditional underwater unmanned aircraft cannot be applied in a polar region, and designs a polar region collaborative navigation method of the underwater unmanned aircraft. Meanwhile, underwater acoustic communication delay is considered, an adaptive Kalman filtering algorithm is improved, and accurate navigation results of the underwater unmanned aircraft are obtained through filtering fusion.
In order to achieve the above purpose, the technical scheme of the invention mainly comprises the following steps:
the method comprises the following steps: and the master unmanned underwater vehicle and the slave unmanned underwater vehicle are precisely synchronized in time.
Step two: inputting the polar region collaborative navigation time T and the filtering period T of the underwater unmanned vehicle considering communication delay, calculating the total filtering times N, and setting the initial filtering times K to be 0.
Step three: the filtering times K plus 1.
Step four: the main underwater unmanned vehicle determines accurate navigation information (including attitude information, position information and speed information) of the main underwater unmanned vehicle in a polar region by using self-carried high-precision navigation equipment and a polar region navigation algorithm.
The main underwater unmanned vehicle carries high-precision inertial navigation equipment, so that the main underwater unmanned vehicle can accurately navigate in a polar region. Compared with the larger navigation error caused by carrying the low-precision inertial navigation equipment by the slave underwater unmanned vehicle, the navigation error of the master underwater unmanned vehicle can be ignored.
Step five: rough navigation information (comprising attitude information, position information and speed information) of the underwater unmanned vehicle in the polar region is determined by using self-carried low-precision navigation equipment and a polar region navigation algorithm.
And selecting a grid coordinate system G as a navigation coordinate system, and establishing a state equation and a measurement equation for navigating from the polar region of the underwater unmanned vehicle by considering the characteristics of the navigation environment of the polar region. The state equation of the underwater unmanned vehicle is established as follows:
wherein the content of the first and second substances,
is the angle of the misalignment and,
is the speed error, δ Re＝[δx δy δz]TIs the position error, fGIs specific force;
is a direction cosine matrix from the carrier coordinate system b to the grid coordinate system G,
a direction cosine matrix from a grid coordinate system G to a terrestrial coordinate system e; epsilonbIs gyro drift which is constant drift of gyro
And gyro random drift which can be regarded as zero mean white Gaussian noise
Composition is carried out; vbIs the accelerometer zero offset which is shifted by the accelerometer constant
And accelerometer random drift
Composition, the accelerometer random drift can be seen as gaussian white noise; delta KdAnd
respectively representing scale factor error and random velocity error, tau, of a Doppler velocimetervIs the correlation time, and wvIs white noise; beta is aaIs zero-mean white noise and represents an ultra-short baseline error. And:
wherein, for the sake of description, s (-) and c (-) denote sin (-) and cos (-) respectively.
Step six: the main underwater unmanned vehicle utilizes the ultra-short baseline system to measure the azimuth and distance information between the main underwater unmanned vehicle and the slave underwater unmanned vehicle.
And selecting a speed error calculated from the speed measured by a Doppler velocimeter carried by the underwater unmanned vehicle as the observed quantity of the speed error. And simultaneously, selecting a position error obtained by solving the position between the master underwater unmanned vehicle and the slave underwater unmanned vehicle measured by the ultra-short baseline positioning system as an observed quantity of the position error. And establishing a polar region collaborative navigation observation model of the underwater unmanned vehicle.
The state quantity can be described as:
the observed quantity can be described as:
Z＝[(δVG)T(δRe)T]T, (7)
the observation model can be described as:
where H and V are the observation matrix and the measurement noise matrix, respectively. V can be considered zero-mean gaussian white noise and can be expressed as:
step seven: the master unmanned underwater vehicle sends information (including time, position, attitude, speed, relative position, etc.) to the slave unmanned underwater vehicles.
Step eight: and the slave unmanned underwater vehicle combines the received information sent by the master unmanned underwater vehicle to determine the communication delay time.
Step nine: and according to the communication delay time, fusing to obtain accurate navigation information from the underwater unmanned vehicle by utilizing an improved filtering algorithm considering the underwater acoustic communication delay. The complete equation for the modified adaptive kalman filter algorithm, which takes into account the underwater acoustic communication delay and is suitable for the polar region collaborative navigation method of the multi-underwater unmanned vehicle, is expressed as follows (the whole process of the modified adaptive kalman filter algorithm taking into account the underwater acoustic communication delay is as follows):
wherein phik,k-1，Γk,k-1And HkRespectively in discrete form of system matrix, control matrix and measuring matrix; p is the covariance matrix of the state; kkIs the adaptive kalman filter gain; the mean and variance of the system noise matrix W are respectively
And
and
is the mean and variance of the measured noise matrix V; dk＝(1-b)/(1-bk) And 0 < b < 1 is a forgetting factor. And:
step ten: judging whether the current filtering times K are more than or equal to the total filtering times N: when K is not larger than N, skipping to the third step for repeated execution; and when K is larger than or equal to N, finishing the polar region collaborative navigation method of the multi-underwater unmanned aircraft considering communication delay.
The specific implementation scheme is as follows:
the effectiveness of the multi-underwater unmanned aircraft polar region collaborative navigation method considering underwater acoustic communication delay provided by the invention is verified through Matlab simulation software. And establishing a navigation state model and an observation model of the slave underwater unmanned aircraft in the polar region navigation method of the multi-underwater unmanned aircraft considering the underwater acoustic communication delay by using a Matlab simulation language. Setting initial conditions and carrying out simulation experiments. The effectiveness of the invention is shown by comparing the polar region collaborative navigation method of the multi-underwater unmanned vehicle considering the underwater acoustic communication delay with the polar region collaborative navigation method of the multi-underwater unmanned vehicle considering the underwater acoustic communication delay.
Matlab simulation conditions were set as follows:
the system simulation time is 12h, and the filtering period is 0.1 s; the initial position of the slave unmanned underwater vehicles in the multi-unmanned underwater vehicles is 120 degrees of east longitude and 80 degrees of north latitude; the initial values of the rolling, pitching and yawing angles are all 0 degrees, the periods are respectively 3s, 5s and 7s, and the amplitudes are respectively 4 degrees, 5 degrees and 3 degrees; the gyro constant drift and the random drift are respectively 0.03 degree/h and (0.001 degree/h)2(ii) a The constant drift and the random drift of the accelerometer are respectively 1 multiplied by 10-4g0And (1X 10)-6g0)2。
The simulation result of the invention is as follows:
according to the multi-underwater unmanned vehicle polar region collaborative navigation method considering underwater acoustic communication delay, and based on the set simulation conditions, simulation experiment results such as the simulation experiment results shown in the figures 2 to 4 can be obtained through simulation experiments on the method.
According to the comparison of the simulation experiment results of fig. 2 to 4, in the simulation experiment, method 1 represents the polar region collaborative navigation method of the multi-underwater unmanned vehicle considering the underwater acoustic communication delay, and method 2 represents the polar region collaborative navigation method of the multi-underwater unmanned vehicle considering the underwater acoustic communication delay. Through comparison results of simulation experiments of fig. 2 to 4, it can be found that the proposed polar region collaborative navigation method of the multi-underwater unmanned vehicle considering the underwater acoustic communication delay is superior to the polar region collaborative navigation method of the multi-underwater unmanned vehicle not considering the underwater acoustic communication delay. In the polar region collaborative navigation method of the multi-underwater unmanned vehicle considering the underwater acoustic communication delay, the estimation errors of the attitude, the speed and the position of the underwater unmanned vehicle are converged rapidly, and the errors are stabilized around the zero value. And in the polar region collaborative navigation method of the multi-underwater unmanned vehicle without considering the underwater acoustic communication delay, the attitude, the speed and the position errors of the underwater unmanned vehicle are larger.
In conclusion, the invention discloses a polar region collaborative navigation method of a multi-underwater unmanned vehicle, which considers underwater acoustic communication delay. The master unmanned underwater vehicle and the slave unmanned underwater vehicle perform accurate time synchronization; inputting polar region collaborative navigation time T and a filtering period T of the underwater unmanned vehicle considering communication delay, calculating total filtering times N, and setting initial filtering times K to be 0; adding 1 to the filtering times K; the main underwater unmanned vehicle determines accurate navigation information (including attitude information, position information and speed information) of the main underwater unmanned vehicle in a polar region by using self-carried high-precision navigation equipment and a polar region navigation algorithm; determining rough navigation information (comprising attitude information, position information and speed information) of the underwater unmanned vehicle in a polar region by using self-carried low-precision navigation equipment and a polar region navigation algorithm; the main underwater unmanned vehicle utilizes the ultra-short baseline system to measure the azimuth and distance information between the main underwater unmanned vehicle and the slave underwater unmanned vehicle; the master unmanned underwater vehicle sends information (comprising time, position, attitude, speed, relative position and the like) to the slave unmanned underwater vehicle; the slave unmanned underwater vehicle determines communication delay time by combining the received information sent by the master unmanned underwater vehicle; according to the communication delay time, an improved filtering algorithm considering the underwater acoustic communication delay is utilized to fuse and obtain accurate navigation information of the underwater unmanned vehicle; judging whether the current filtering times K are more than or equal to the total filtering times N: when K is not larger than N, skipping to the third step for repeated execution; and when K is larger than or equal to N, finishing the polar region collaborative navigation method of the multi-underwater unmanned aircraft considering communication delay. The invention can effectively realize the polar region collaborative navigation of the multi-underwater unmanned vehicle considering the underwater acoustic communication delay, and has better precision compared with the polar region collaborative navigation method of the underwater unmanned vehicle not considering the underwater acoustic communication delay.
Claims (2)
1. A polar region collaborative navigation method of a multi-underwater unmanned vehicle considering underwater acoustic communication delay is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: the master unmanned underwater vehicle and the slave unmanned underwater vehicle perform accurate time synchronization;
step two: inputting polar region collaborative navigation time T and a filtering period T of the underwater unmanned vehicle considering communication delay, calculating total filtering times N, and setting initial filtering times K to be 0;
step three: adding 1 to the filtering times K;
step four: the main underwater unmanned vehicle determines accurate navigation information of the main underwater unmanned vehicle in a polar region by using self-carried high-precision navigation equipment and a polar region navigation algorithm, wherein the accurate navigation information comprises attitude information, position information and speed information;
step five: determining rough navigation information of the underwater unmanned vehicle in a polar region by using self-carried low-precision navigation equipment and a polar region navigation algorithm, wherein the rough navigation information comprises attitude information, position information and speed information;
the polar region navigation algorithm comprises the following steps: selecting a grid coordinate system G as a navigation coordinate system, and establishing the following state equation from the underwater unmanned vehicle by considering the navigation environment characteristics of a polar region:
wherein the content of the first and second substances,
is the angle of the misalignment and,
is the speed error, δ Re＝[δx δy δz]TIs the position error, fGIs specific force;
is a direction cosine matrix from the carrier coordinate system b to the grid coordinate system G,
a direction cosine matrix from a grid coordinate system G to a terrestrial coordinate system e; epsilonbIs gyro drift which is constant drift of gyro
And gyro random drift viewed as zero mean white Gaussian noise
Composition is carried out;
is zero offset of the accelerometer and is shifted by the accelerometer constant
And accelerometer random drift
Composition, accelerometer is floated at randomThe shift is seen as white gaussian noise; delta KdAnd
respectively representing scale factor error and random velocity error, tau, of a Doppler velocimetervIs the correlation time, and wvIs white noise; beta is aaIs zero-mean white noise, representing an ultra-short baseline error;
step six: the main underwater unmanned vehicle utilizes the ultra-short baseline system to measure the azimuth and distance information between the main underwater unmanned vehicle and the slave underwater unmanned vehicle;
step seven: the method comprises the following steps that a master unmanned underwater vehicle sends information to a slave unmanned underwater vehicle, and comprises the following steps: time, position, attitude, velocity, relative position;
step eight: the slave unmanned underwater vehicle determines communication delay time by combining the received information sent by the master unmanned underwater vehicle;
step nine: according to the communication delay time, an improved filtering algorithm considering the underwater acoustic communication delay is utilized to fuse and obtain accurate navigation information of the underwater unmanned vehicle;
step ten: judging whether the current filtering times K are more than or equal to the total filtering times N: when K is not larger than N, skipping to the third step for repeated execution; and when K is larger than or equal to N, finishing the polar region collaborative navigation method of the multi-underwater unmanned aircraft considering communication delay.
2. The polar region collaborative navigation method of the multi-underwater unmanned vehicle considering underwater acoustic communication delay is characterized in that: the eighth step is specifically: the complete equation of the modified adaptive Kalman filtering algorithm considering the underwater acoustic communication delay and being applicable to the polar region collaborative navigation method of the multi-underwater unmanned aircraft is expressed as follows:
wherein phik,k-1，Γk,k-1And HkRespectively in discrete form of system matrix, control matrix and measuring matrix; p is the covariance matrix of the state; kkIs the adaptive kalman filter gain; the mean and variance of the system noise matrix W are respectively
And
and
is the mean and variance of the measured noise matrix V; dk＝(1-b)/(1-bk) And 0 < b < 1 is a forgetting factor, and:
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| CN110207698B (en) * | 2019-05-27 | 2022-08-02 | 哈尔滨工程大学 | Polar region grid inertial navigation/ultra-short baseline tight combination navigation method |
| CN110954107B (en) * | 2019-12-04 | 2023-09-19 | 上海迈波科技有限公司 | Unmanned aircraft cluster collaborative navigation method and device |
| CN114791588B (en) * | 2022-05-12 | 2022-10-25 | 中国人民解放军海军潜艇学院 | Underwater acoustic pulse positioning method and system |
| CN117553787B (en) * | 2024-01-09 | 2024-03-26 | 湖南大学无锡智能控制研究院 | Collaborative navigation method, device and system of underwater unmanned aircraft |
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