CN103968830B - Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method - Google Patents
Many ways guidance device during a kind of UUV approximately level tracking lash ship navigation and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to many ways guidance device when a kind of UUV approximately level tracking lash ship being applicable to solve UUV perception lash ship position problems in the presence of a harsh environment navigates by water and method.The present invention includes GPS locating device, laser range finder peculiar to vessel, multibeam forward looking sonar and synchronous fixed sonar, GPS locating device comprises the gps antenna be arranged on respectively on UUV and lash ship, for receiving the locating information from gps satellite; Laser range finder peculiar to vessel is installed on lash ship, by relative distance and the direction of laser beam measuring UUV and lash ship; Multibeam forward looking sonar is installed on UUV, by relative distance and the direction of acoustic measurement lash ship and UUV; Synchronous fixed sonar comprise be installed on lash ship transmitting basic matrix, receive basic matrix and be installed on the transponder of UUV.Invention enhances redundant ability and the positioning precision of system, improve the reliability of system data transmission.
Description
Technical field
The present invention relates to many ways guidance device when a kind of UUV approximately level tracking lash ship being applicable to solve UUV perception lash ship position problems in the presence of a harsh environment navigates by water and method.
Background technology
The Near-surface motion of UUV is a kind of very important operational configuration, utilizes the method for target guiding to impel its tracking test lash ship to navigate by water, and greatly can improve the capacity of will of aircraft laying, in removal process.Take lash ship as guiding target, the basis of Real-time Obtaining position can be planned corresponding air route is assigned to UUV, and then complete autonomous track.Traditional method is equipped with GPS respectively, i.e. GPS device, the absolute position that both acquisitions represent with longitude and latitude on lash ship and UUV carrier, asks the method for distance to complete the conversion of relative position by known two point coordinate.Because UUV offshore operation exists environment difference, has a big risk and strong probabilistic feature, GPS locating device is subject to the impact that hull rocks and brings interference to measurement data, in the presence of a harsh environment even cannot receiving satellite signal, causes the problem of locate failure.GPS locator meams single as can be seen here cannot practical requirement, adopts the multiple guidance device such as laser range finder peculiar to vessel, multibeam forward looking sonar, synchronous fixed sonar very necessary to the redundant ability of sophisticated systems to the position obtaining lash ship.
After the station-keeping data obtaining UUV and lash ship, another major issue has been exactly data transmission therebetween.The data that the communication modes that UUV combines with radio and underwater acoustic communication when approximately level navigates by water completes and tests between lash ship are transmitted.Radio communication mode achieves real-time Transmission substantially, data delay is negligible, but require that UUV receiving antenna when approximately level navigates by water must surface, once sea situation rank is higher, the problem that the communication antenna that the wave that wave amplitude is larger will flood UUV causes communication to be interrupted; Even if underwater acoustic communication mode solves UUV and navigates by water the problem that still can complete underwater data transmission under water, but shortcoming to be communication delay longer.The present invention designs the problem that the synchronous method of communication data solves two kinds of communication modes Time Inconsistencies, improves UUV to the positioning precision of lash ship.
By to Chinese Patent database searching, do not inquire the patent that the present invention is correlated with.By the retrieval to US Patent database and Espacenet, do not find the similar patent with the present invention.
Pass through the document to domestic and international prior art and patent retrieval, not yet find similar many ways for underwater unmanned vehicle guidance device and method.
Summary of the invention
Many ways guidance device when the object of the present invention is to provide a kind of UUV approximately level tracking lash ship that improve the reliability of system data transmission to navigate by water, the present invention also aims to many ways guidance method when providing a kind of UUV approximately level tracking lash ship navigation.
The object of the present invention is achieved like this:
A kind of UUV approximately level follows the tracks of many ways guidance device during lash ship navigation, comprise GPS locating device, laser range finder peculiar to vessel, multibeam forward looking sonar and synchronous fixed sonar, GPS locating device comprises the gps antenna be arranged on respectively on UUV and lash ship, for receiving the locating information from gps satellite; Laser range finder peculiar to vessel is installed on lash ship, by relative distance and the direction of laser beam measuring UUV and lash ship; Multibeam forward looking sonar is installed on UUV, by relative distance and the direction of acoustic measurement lash ship and UUV; Synchronous fixed sonar comprise be installed on lash ship transmitting basic matrix, receive basic matrix and be installed on the transponder of UUV, synchronous fixed sonar completes relative distance and relative orientation between UUV and lash ship on the one hand, completes the underwater acoustic communication between UUV and lash ship on the other hand.
Except synchronous fixed sonar, also comprise the wireless aerial being installed on UUV and lash ship respectively.
A kind of UUV approximately level follows the tracks of many ways guidance method during lash ship navigation:
(1) GPS of UUV bearer configuration and lash ship GPS obtains respective absolute position simultaneously, between 2 o'clock, ask the conversion of the method pair warp and weft degree of distance to obtain relative orientation;
(2) relative distance and the direction of laser beam travel-time and velocity survey UUV and lash ship is utilized;
(3) be measurement target with lash ship, utilize the sound wave time of return of ranging sonar and the relative distance of velocity survey UUV and lash ship and direction;
(4) utilize ultra-short baseline principle of work, determine the relative bearing between basic matrix and transponder by the phase differential of mensuration sound unit, finally determined the relative distance of lash ship and UUV by the time and Sound speed profile correction measuring Acoustic Wave Propagation.
The invention has the beneficial effects as follows: adopt the relative distance between the various ways such as GPS, laser range finder peculiar to vessel measurement UUV and lash ship and direction when UUV approximately level follows the tracks of lash ship navigation, enhance redundant ability and the positioning precision of system, and adopt radio, communication modes that underwater acoustic communication combines completes data transmission in position fixing process between UUV and lash ship, temporal registration is carried out to two kinds of communication modes, improve system data transmission reliability, thus realize UUV approximately level navigation time under high sea situation severe environmental conditions sense of autonomy wind-weed ship position.
Accompanying drawing explanation
Fig. 1 is many ways guidance device schematic diagram that UUV approximately level follows the tracks of when lash ship navigates by water;
Fig. 2 is underwater acoustic communication process flow diagram synchronous with radio data.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
The Near-surface motion of UUV is a kind of very important operational configuration, utilizes the method for target guiding to impel its tracking test lash ship to navigate by water, and greatly can improve the capacity of will of aircraft laying, in removal process.Because offshore operation exists environment difference, has a big risk and strong probabilistic feature, adopt multiple guidance device and communication modes very necessary to the redundant ability of sophisticated systems to the position obtaining lash ship.The present invention disclose a kind of UUV approximately level follow the tracks of lash ship navigation time many ways guidance device and method, for solving the problem of UUV sense of autonomy wind-weed ship position and then realizing route tracking, wherein many ways guidance device comprises: 1) traditional GPS locating device, principle of work is, GPS and the lash ship GPS of UUV bearer configuration obtain respective absolute position simultaneously, between 2 o'clock, ask the conversion of the method pair warp and weft degree of distance can obtain the relative orientation of the two; 2) laser range finder peculiar to vessel, principle of work is, utilizes relative distance and the direction of laser beam travel-time and velocity survey UUV and lash ship; 3) multibeam forward looking sonar, principle of work is, take lash ship as measurement target, utilizes the sound wave time of return of ranging sonar and the relative distance of velocity survey UUV and lash ship and direction; 4) synchronous fixed sonar, principle of work is, utilize ultra-short baseline principle of work, by the transmitting basic matrix be arranged on test lash ship, receive basic matrix and the transponder be fixed on UUV carrier forms, and GPS, lash ship attitude sensor (compass) combine the relative position can measured between UUV and lash ship.The data that the communication modes that UUV combines with radio and underwater acoustic communication when approximately level navigates by water completes and tests between lash ship are transmitted, the time delay that the present invention proposes a kind of underwater sound communication is revised based on radial basis function (RadicalBasisFunction, RBF) method of the underwater sound communication locator data of neural network matching acquisition, data synchronization processing is carried out to the locator data under two kinds of communication modes, keeps the consistance of locator data.
Many ways guidance device during UUV approximately level tracking lash ship navigation and method, comprising: (1) UUV approximately level navigates by water; (2) multiple guidance device perception lash ship position; (3) data that multiple communication modes completes UUV and lash ship are transmitted; (4) the locator data time consistency under utilizing data synchronization processing to keep two kinds of communication modes; (5) redundancy is adopted to strengthen system reliability in the presence of a harsh environment.
There is environment difference, has a big risk and strong probabilistic feature during the navigation of UUV approximately level, and approximately level navigation is to the unimpeded good condition that causes improving communication, be therefore UUV laying, requisite motion state in the process such as recovery.
Multiple guidance device obtains lash ship position, concrete finger GPS locating device, laser range finder peculiar to vessel, UUV carry multibeam forward looking sonar and synchronous fixed sonar four kinds of approach, what wherein GPS location obtained is the absolute position of UUV and lash ship respectively, conversion can obtain relative orientation as calculated, laser range finder peculiar to vessel, multibeam forward looking sonar and synchronous the fixed sonar then directly relative distance of both Real-time Obtainings and direction.
The data that multiple communication modes completes UUV and lash ship are transmitted, the communication modes that concrete finger radio and underwater acoustic communication combine, wherein radio communication requires that UUV communication antenna remains on more than the water surface, and underwater acoustic communication mode is then to carry the underwater transmission of transponder and the data that communicated of lash ship basic matrix.
Data synchronization processing is carried out to the locator data under two kinds of communication modes, temporal registration method is adopted to process to keep data consistency to communication data, adopt radial basis function (RadicalBasisFunction, RBF) in the data point that underwater sound communication Data Matching to radio obtains by neural network approximating method, simultaneously with revising the time delay of underwater sound communication.
The redundancy adopting multiple lash ship to locate approach and communication modes can strengthen UUV perception lash ship position system reliability in the presence of a harsh environment.
In the present invention, UUV is realized by following perceptual positioning scheme the track of lash ship:
A) multiple guiding approach provides the relative position of UUV and lash ship, specifically comprises GPS locating device, laser range finder peculiar to vessel, UUV lift-launch multibeam forward looking sonar and synchronous fixed sonar system;
B) communication modes that radio and underwater acoustic communication combine completes the transmission of locator data;
C) adopt method of data synchronization to solve underwater sound communication delay issue, keep the time consistency of two kinds of communication modes;
D) reliability of UUV perception lash ship position system is improved by redundancy.
Described multiple guiding approach scheme a) middle GPS locating device refers to, being equipped with existing GPS positioning equipment respectively, can obtaining absolute position that the two represents with longitude and latitude when communicating unimpeded on UUV carrier and lash ship;
Described multiple guiding approach scheme a) in laser range finder peculiar to vessel refer to, at lash ship stern installation ship laser range finder, real-time detection is carried out to UUV, utilizes relative distance and the direction of laser beam travel-time and velocity survey UUV and lash ship;
Described multiple guiding approach scheme a) middle UUV lift-launch multibeam forward looking sonar refers to, at UUV bow, multibeam forward looking sonar is installed, utilizing sound wave to return principle, take lash ship as the detection of a target, according to relative distance and the direction of both sonic transmissions speed and Time Calculation;
Described multiple guiding approach scheme a) in synchronous fixed sonar system refer to, utilize ultra-short baseline principle of work, by the transmitting basic matrix be arranged on test lash ship, receive basic matrix and the transponder be fixed on UUV carrier forms, system determines the relative bearing of basic matrix to transponder by the phase differential of mensuration sound unit, is finally determined the relative distance of lash ship and UUV by the time and Sound speed profile correction measuring Acoustic Wave Propagation.
Described many ways guidance device and method implementation b) in the communication modes that combines of radio and underwater acoustic communication refer to, UUV is when approximately level navigation receiving antenna surfaces, adopt radio communication mode can realize the real-time Transmission of data, meanwhile, underwater acoustic communication mode solves the problem of data transmission when UUV navigates by water under water.
Described many ways guidance device and method implementation c) in adopt method of data synchronization to solve underwater sound communication delay issue to refer to, due to radio communication and underwater acoustic communication data transmission frequencies different, this patent adopts data syn-chronization means to carry out temporal registration to radio data and underwater acoustic communication data, to keep the time consistency of two kinds of communication modes, this process specifically comprises the following steps:
Step 1: utilize RBF neural to carry out matching to underwater sound communication data, for completing registration with radio-communication data, is taken as 0.5s by training pace, then can obtain the underwater sound communication data in any 0.5t moment, t=1s, 2s, v, ns;
Step 2: the UUV obtained according to underwater sound communication and the relative position Δ d of lash ship, sonic transmissions speed v and data resolving time ω
t(wherein ω
tbe generally Millisecond, can ignore), following equations its time delay can be adopted, obtain the time delay of each transmission relative distance point thus:
Represent that meaning is Δ d for working as orientation distance
itime, the time delay of i-th data is Δ t
i.
Step 3: the underwater sound communication data matching of RBF network obtained are according to shifting to an earlier date Δ t respectively
is, the corresponding time that namely during final match time, underwater sound communication obtains is (0.5t-Δ t
i) s.
Step 4: obtain UUV with lash ship apart for the corresponding time of Δ d is (0.5t-Δ t by step 3
i) s, might not ensureing it is the integral multiple of 0.5s, for completing synchronous with radio data, again utilizing RBF neural matching.
Described many ways guidance device and method implementation d) in improve UUV perception lash ship position system by redundancy reliability refer to, the application of number of ways guidance device enhances UUV and the mutual positioning precision of lash ship, and the application that combines of two kinds of communication datas improves system survivability.
The present invention relates to a kind of UUV adopts number of ways to guide the device and method of its navigation when approximately level follows the tracks of lash ship, is specially adapted to solve the problem of UUV perception lash ship position in the presence of a harsh environment.The method combines multiple distance measuring equipment, and the time of two kinds of communication modes carries out registration, thus during the navigation of Measurement accuracy approximately level under high sea situation and complex environment the relative position of UUV and lash ship, below in conjunction with accompanying drawing, further illustrate feature of the present invention and function.
Many ways guidance device when Fig. 1 is UUV approximately level tracking lash ship navigation and communication device schematic diagram.
Many ways guidance device comprises traditional GPS locating device, laser range finder peculiar to vessel, multibeam forward looking sonar and synchronous fixed sonar.Wherein, GPS locating device comprises the gps antenna be arranged on respectively on UUV and lash ship, for receiving the locating information from gps satellite; Laser range finder peculiar to vessel is installed on lash ship, by relative distance and the direction of laser beam measuring UUV and lash ship; Multibeam forward looking sonar is installed on UUV, by relative distance and the direction of acoustic measurement lash ship and UUV; Synchronous fixed sonar comprise be installed on lash ship transmitting basic matrix, receive basic matrix and be installed on the transponder of UUV, synchronous fixed sonar completes relative distance and relative orientation between UUV and lash ship on the one hand, completes the underwater acoustic communication between UUV and lash ship on the other hand.
Communication device, except synchronous fixed sonar, also comprises the wireless aerial being installed on UUV and lash ship respectively.
Tradition GPS principle of work is that GPS and the lash ship GPS of UUV bearer configuration obtain respective absolute position simultaneously, between 2 o'clock, ask the conversion of the method pair warp and weft degree of distance can obtain the relative orientation of the two; Laser range finder principle of work peculiar to vessel is, utilizes relative distance and the direction of laser beam travel-time and velocity survey UUV and lash ship; Multibeam forward looking sonar principle of work is, is measurement target with lash ship, utilizes the sound wave time of return of ranging sonar and the relative distance of velocity survey UUV and lash ship and direction; Synchronous fixed sonar principle of work is, utilize ultra-short baseline principle of work, by the transmitting basic matrix be arranged on test lash ship, receive basic matrix and the transponder be fixed on UUV carrier forms, system determines the relative bearing between basic matrix and transponder by the phase differential of mensuration sound unit, is finally determined the relative distance of lash ship and UUV by the time and Sound speed profile correction measuring Acoustic Wave Propagation.
The relative position between UUV and lash ship all can be recorded by above four kinds of guide modes, wherein, utilize GPS locating device, utilize laser range finder peculiar to vessel and utilize the method for synchronous fixed sonar to relate to data transmission problems between UUV and lash ship, therefore communication modes is also ensure that this programme realizes the key of accurately location between UUV and lash ship reliably, the communication modes that this programme adopts radio and underwater acoustic communication to combine, and utilize revise the underwater sound communication locator data obtained based on RBF neural matching the time delay of underwater sound communication.
Under radio communication mode, locator data transmission frequency is 2Hz, and underwater acoustic communication mode is then 0.5Hz.Underwater acoustic communication data syn-chronization on the time point of radio sampled data, is completed the temporal registration of the two by application data synchronous method, and the underwater acoustic communication data after elapsed time registration have the estimated value of underwater acoustic communication data near radio sampled point.
Fig. 2 is underwater acoustic communication process flow diagram synchronous with radio data, and concrete steps are:
Step 1: utilize RBF neural to carry out matching to underwater sound communication data, for completing registration with radio-communication data, is taken as 0.5s by training pace, then can obtain the underwater sound communication data in any 0.5t moment, t=1s, 2s ..., ns;
Step 2: the UUV obtained according to underwater sound communication and the relative position Δ d of lash ship, sonic transmissions speed v and data resolving time ω
t(wherein ω
tbe generally Millisecond, can ignore), following equations its time delay can be adopted, obtain the time delay of each transmission relative distance point thus:
Represent that meaning is Δ d for working as orientation distance
itime, the time delay of i-th data is Δ t
i.
Step 3: the underwater sound communication data matching of RBF network obtained are according to shifting to an earlier date Δ t respectively
is, the corresponding time that namely during final match time, underwater sound communication obtains is (0.5t-Δ t
i) s.
Step 4: obtain UUV with lash ship apart for the corresponding time of Δ d is (0.5t-Δ t by step 3
i) s, might not ensure be 0.5 integral multiple, for completing synchronous with radio data, again utilize RBF neural matching.
Many ways guidance method when the present invention mainly follows the tracks of lash ship navigation towards UUV approximately level, easily and effectively can realize the mutual location between UUV and lash ship and data transmission, system redundancy ability is stronger especially in the presence of a harsh environment.When not departing from inventive concept, the various equivalence changes that all application instructions of the present invention and accompanying drawing content are done, all reason is with being contained in right of the present invention.
Claims (1)
1. a many ways guidance method during UUV approximately level tracking lash ship navigation, comprise GPS locating device, laser range finder peculiar to vessel, multibeam forward looking sonar and synchronous fixed sonar, GPS locating device comprises the gps antenna be arranged on respectively on UUV and lash ship, for receiving the locating information from gps satellite; Laser range finder peculiar to vessel is installed on lash ship, by relative distance and the direction of laser beam measuring UUV and lash ship; Multibeam forward looking sonar is installed on UUV, by relative distance and the direction of acoustic measurement lash ship and UUV; Synchronous fixed sonar comprise be installed on lash ship transmitting basic matrix, receive basic matrix and be installed on the transponder of UUV, synchronous fixed sonar completes relative distance and relative orientation between UUV and lash ship on the one hand, completes the underwater acoustic communication between UUV and lash ship on the other hand; Except synchronous fixed sonar, also comprise the wireless aerial being installed on UUV and lash ship respectively; It is characterized in that:
(1) GPS of UUV bearer configuration and lash ship GPS obtains respective absolute position simultaneously, between 2 o'clock, ask the conversion of the method pair warp and weft degree of distance to obtain relative orientation;
(2) relative distance and the direction of laser beam travel-time and velocity survey UUV and lash ship is utilized;
(3) be measurement target with lash ship, utilize the sound wave time of return of ranging sonar and the relative distance of velocity survey UUV and lash ship and direction; Data syn-chronization means are adopted to carry out temporal registration to radio data and underwater acoustic communication data:
(3.1) utilizing RBF neural to carry out matching to underwater sound communication data, for completing registration with radio-communication data, training pace being taken as 0.5s, then can obtain the underwater sound communication data in any 0.5t moment, t=1s, 2s ..., ns;
(3.2) UUV obtained according to underwater sound communication and the relative position Δ d of lash ship, sonic transmissions speed v and data resolving time ω
t, solve time delay, obtain the time delay of each transmission relative distance point thus:
Represent when orientation distance is Δ d
itime, the time delay of i-th data is Δ t
i;
(3.3) the underwater sound communication data matching of RBF network obtained are according to shifting to an earlier date Δ t respectively
is, the corresponding time that namely during final match time, underwater sound communication obtains is 0.5t-Δ t
is;
(3.4) UUV is obtained with lash ship apart for the corresponding time of Δ d is 0.5t-Δ t by step (3.3)
is, might not ensureing it is the integral multiple of 0.5s, for completing synchronous with radio data, again utilizing RBF neural matching to carry out temporal registration;
(4) utilize ultra-short baseline principle of work, determine the relative bearing between basic matrix and transponder by the phase differential of mensuration sound unit, finally determined the relative distance of lash ship and UUV by the time and Sound speed profile correction measuring Acoustic Wave Propagation.
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| CN106027188A (en) * | 2016-05-12 | 2016-10-12 | 哈尔滨工程大学 | UUV distributed control system time alignment method for compensating underwater acoustic communication time delay |
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| CN103033817A (en) * | 2012-11-25 | 2013-04-10 | 中国船舶重工集团公司第七一○研究所 | Obstruction automatic recognition system for collision preventing of large-scale autonomous underwater vehicle (AUV) |
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
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