CN106842209A - A kind of multirobot cooperates with underwater terrain matching navigation system and method - Google Patents
A kind of multirobot cooperates with underwater terrain matching navigation system and method Download PDFInfo
- Publication number
- CN106842209A CN106842209A CN201710054066.2A CN201710054066A CN106842209A CN 106842209 A CN106842209 A CN 106842209A CN 201710054066 A CN201710054066 A CN 201710054066A CN 106842209 A CN106842209 A CN 106842209A
- Authority
- CN
- China
- Prior art keywords
- robot
- data
- landform
- underwater
- matched
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of multirobot collaboration underwater terrain matching navigation system and method, including robot of robot 1 ... I ... the robots N and the common N+1 robot of main robot for being responsible for gathered data；Keep underwater multi-robot (AUV) to form into columns to run, gather multi-beam sonar data, recorder people's relative position information provides landform to be matched with reference to the two.Determine matching landform, and then the exact position with reference to where robot relative position information determines underwater robot using the method for probability correlation.The present invention without GPS, the auxiliary of acoustics basic matrix, by self-sensor device signal be in communication with each other, carry out calculating and provide exact position, complete navigation.Present invention can apply to underwater multi-robot collaboration terrain match navigation, and with robustness higher.
Description
Technical field
The present invention relates to one kind positioning and navigation, more particularly to a kind of multirobot collaboration underwater terrain matching navigation system
And method, belong to Underwater Navigation and airmanship.
Background technology
Underwater robot receives increasing attention in commercial field and national defense industry field, due to environment under water
In, high frequency signal attenuation is fast, so the routine positioning method such as GPS and do not apply to, because positioning and navigation are underwater robot energy
The important technology factor that no safety is maked a return voyage, so terrain match navigation becomes one of optional option.
Multirobot collaboration forms into columns operation because it can more easily complete variation, complicating for task, with more
The advantages of robustness high, receives more concerns in recent years.And how to utilize the number of the sensor transmissions time of multiple robots
The new focus that research institution of various countries is studied, wherein underwater multi-robot collaboration landform are also become according to being positioned and being navigated
With still belonging to space state in airmanship.
The content of the invention
The invention aims to provide a kind of multirobot collaboration underwater terrain matching navigation system and method, including
Multirobot collects depth information using multi-beam sonar, and aggregation process data draw landform to be matched and carried out with priori map
The sport technique segments such as matching, finally give the exact position of each robot.
The object of the present invention is achieved like this：A kind of multirobot cooperates with underwater terrain matching navigation system, including negative
Blame robot of robot 1 ... I ... the robots N and the common N+1 robot of main robot of gathered data；
Robot of robot 1 ... N carries multi-beam sonar, can mutually carry out underwater sound communication, can be by multi-beam sonar
Data obtained after velocity of sound amendment and tide station modified detection ground moldeed depth degrees of data, can by underwater sound communication determine relative position and
Mutually transmission data, can by main robot transmission come robot location's information determine its latent device state；
Main robot can carry out underwater sound communication with other robot, store priori map, and the robot that will can be received is relative
It is landform to be matched that positional information combines the type data processing of detection ground, and matching operation is carried out in conjunction with priori map, obtains each machine
Device people position, finally returns that to each robot.
Present invention additionally comprises such some architectural features：
1. a kind of multirobot cooperates with underwater terrain matching air navigation aid,
Step one：N number of robot team formation operation, velocity of sound amendment, tide are carried out by each robot by multi-beam sonar data
Map depth data to be tested is obtained after the amendment of position, and map depth data to be tested is passed into main robot by underwater sound communication；
Step 2：The relative position information in each machine human world is passed into main robot by underwater sound communication；
Step 3：Main robot combines the relative position information that obtains and map depth data to be tested collect it is whole
Reason, by being calculated landform to be matched；
Step 4：Main robot extracts the terrain data in priori map, is found out using Maximum-likelihood estimation to be matched
Optimal match point (x of the landform in priori mapmatch,ymatch), x, y correspond to longitude, latitude in earth coordinates respectively
Value；
Step 5：Main robot passes through optimal match point (xmatch,ymatch) with the relative position information of each robot,
Calculate the corresponding positional information (x of each robot2,y2), (x3,y3)…(xn,yn) after, return again to give each robot,
Complete multirobot collaboration terrain match positioning.
2. the arrangement that collects in step 3 includes：
First：The position of these bathymetric data points is obtained with reference to the map depth data to be tested and relative position information for obtaining
With data message；
Second：The position of bathymetric data point is read one by one with data message, is believed with reference to the relative position of each robot
Breath, judges whether the bathymetric data point has been written into landform to be matched：If not writing, the 3rd step is carried out, if having been written into, carried out
4th step；
3rd：The bathymetric data point that will do not write writes landform to be matched；
4th：The corresponding all data of bathymetric data point that preservation has been written into, averaging, it is to be matched to be write as data
Landform；
5th：All data point write-ins are finished, and disposal data obtains landform to be matched.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is by processing the multiple machines under water formed into columns and run
The data of the multi-beam sonar of device people, with reference to the relative position information between robot, the landform for being detected is and known
Priori landform is matched, after the completion of matching, then the essence that each robot is calculated by the relative position information of robot
True position.The terrain match positioning and navigation task carried out in the case where the information such as GPS, initial position are not relied on.
That is, the present invention determines matching landform using the method for probability correlation, and then robot is combined with respect to position
Exact position where confidence breath determination underwater robot.The present invention without GPS, the auxiliary of acoustics basic matrix, by self-sensor
Device signal be in communication with each other, carry out calculating and provide exact position, complete navigation.Present invention can apply to underwater multi-robot collaboration
Terrain match is navigated, and with robustness higher
Brief description of the drawings
Fig. 1 is flow chart of the invention；
Fig. 2 is that aggregation process detects landform flow chart.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 and Fig. 2, multirobot collaboration terrain-matching system of the invention, system includes being responsible for gathered data
I ... robots of robot of robot 1 ... N, and the common N+1 robot of main robot.Robot of robot 1 ... N carries many
The sensors such as wave beam sonar, can mutually carry out underwater sound communication, functionally can be by multi-beam sonar data in velocity of sound amendment and tidal level
Detection ground moldeed depth degrees of data is obtained after amendment, relative position can be determined by underwater sound communication and be transmitted data mutually, can passed through
Robot location's information that main robot transmission comes determines its latent device state.Main robot can carry out the underwater sound and lead to other robot
Letter, the priori that is stored with map, the robot relative position information that will can functionally receive combines detection ground type data processing and is
Landform to be matched, matching operation is carried out in conjunction with priori map, obtains each robot location, is finally returned that to each robot.
A kind of multirobot collaboration underwater terrain matching air navigation aid of the invention, including：
(1) multiple robot team formation operations, velocity of sound amendment, tide station modified are carried out by each robot by multi-beam sonar data
After obtain map depth data to be tested, main robot is passed to by underwater sound communication.
(2) while the relative position information in the machine human world is passed into main robot by underwater sound communication.
(3) each robot for being received in the relative position information and step (1) in main robot combination step (2) is received
The depth information of collection, carries out collecting arrangement, by being calculated landform to be matched.
(4) main robot extracts the terrain data in priori map, and landform to be matched is found out using Maximum-likelihood estimation
Optimal match point (x in priori mapmatch,ymatch) (use earth coordinates, x, y to correspond to warp respectively in the present invention
Degree, latitude value).
(5) main robot passes through optimal match point (xmatch,ymatch) with the relative position information of robot, calculate every
One positional information (x of robot2,y2), (x3,y3)…(xn,yn).Each robot is returned to, multirobot collaboration is completed
Terrain match is positioned.
In step (3), it is to be realized using following methods to collect arrangement：Multi-beam sonar data is passed through into multi-beam sonar
Parameter calculate the bathymetric data to region to be matched, bathymetric data is read one by one.Now, with reference to the relative position of robot
Information, judges whether the point has been written into landform to be matched, if not writing, the point is write into landform to be matched, if having been written into,
The average value of all data on the aspect is calculated as bathymetric data, landform to be matched is write, is successively read after finishing and is completed to treat
Structure with landform.Specifically：
The landform depth data to be matched that each robot for receiving is given, the relative position with robot are combined first
Information obtains position and the data message of these bathymetric data points.
Secondly, position and the data message of bathymetric data point are read one by one, judge whether the point has been written into treating a landform,
If the point being write without if, if same position has had data point, this data is considered as amendment data, the point is right
The all data answered are averaged, in the corresponding position of write-in.
Finally, when the write-in of all data points is finished, disposal data obtains landform to be matched.
More briefly, flow of the invention is：
1st, multiple robot team formation operations, velocity of sound amendment, tide station modified are carried out by each robot by multi-beam sonar data
After obtain map depth data to be tested, main robot is passed to by underwater sound communication.
2nd, while the relative position information in the machine human world is passed into main robot by underwater sound communication.
3rd, map depth data to be tested is collected and read one by one by main robot, is believed with reference to the relative position of each robot
Breath, judges whether the point has been written into landform to be matched, if not writing, carries out step 4, if having been written into, carries out step 5.
4th, the point is write into landform to be matched.
5th, the corresponding all data of the point are preserved, is averaged and carry out step 4 as data.
6th, when all depth datas read to be finished, the structure of landform to be matched is completed.
7th, the terrain data in priori map is extracted, landform to be matched is found out using Maximum-likelihood estimation in priori map
In optimal match point (xmatch,ymatch)。
8th, by optimal match point (xmatch,ymatch) with reference to the relative position information of robot, calculate each robot
Positional information (x2,y2), (x3,y3)…(xn,yn).Each robot is transferred to, multirobot collaboration terrain match is completed
Positioning.
Claims (3)
1. a kind of multirobot cooperates with underwater terrain matching navigation system, it is characterised in that：Machine including being responsible for gathered data
People 1 ... robot I ... robots N and the common N+1 robot of main robot；
Robot of robot 1 ... N carries multi-beam sonar, can mutually carry out underwater sound communication, can be by multi-beam sonar data
Obtained after velocity of sound amendment and tide station modified detection ground moldeed depth degrees of data, can by underwater sound communication determine relative position and mutually
Transmission data, can by main robot transmission come robot location's information determine its latent device state；
Main robot can carry out underwater sound communication with other robot, store priori map, the robot relative position that will can be received
It is landform to be matched that information combines the type data processing of detection ground, and matching operation is carried out in conjunction with priori map, obtains each robot
Position, finally returns that to each robot.
2. a kind of multirobot cooperates with underwater terrain matching air navigation aid, it is characterised in that：According to the one kind described in claim 1
Multirobot cooperates with underwater terrain matching navigation system, also comprises the following steps：
Step one：N number of robot team formation operation, carries out velocity of sound amendment, tidal level and repaiies by each robot by multi-beam sonar data
Map depth data to be tested is just being obtained afterwards, and map depth data to be tested is being passed into main robot by underwater sound communication；
Step 2：The relative position information in each machine human world is passed into main robot by underwater sound communication；
Step 3：The relative position information and map depth data to be tested that main robot combination is obtained carry out collecting arrangement, pass through
Cross and be calculated landform to be matched；
Step 4：Main robot extracts the terrain data in priori map, and landform to be matched is found out using Maximum-likelihood estimation
Optimal match point (x in priori mapmatch,ymatch), x, y correspond to longitude, latitude value in earth coordinates respectively；
Step 5：Main robot passes through optimal match point (xmatch,ymatch) with the relative position information of each robot, calculate
Corresponding positional information (the x of each robot2,y2), (x3,y3)…(xn,yn) after, return again to give each robot, complete many
Robot collaboration terrain match positioning.
3. a kind of multirobot according to claim 2 cooperates with underwater terrain matching air navigation aid, it is characterised in that：Step
Collecting arrangement described in three includes：
First：Position and the number of these bathymetric data points are obtained with reference to the map depth data to be tested and relative position information for obtaining
It is believed that breath；
Second：The position of bathymetric data point is read one by one with data message, with reference to the relative position information of each robot, is sentenced
Whether the disconnected bathymetric data point has been written into landform to be matched：If not writing, the 3rd step is carried out, if having been written into, carry out the 4th
Step；
3rd：The bathymetric data point that will do not write writes landform to be matched；
4th：The corresponding all data of bathymetric data point that preservation has been written into, to average and write landform to be matched as data；
5th：All data point write-ins are finished, and disposal data obtains landform to be matched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054066.2A CN106842209B (en) | 2017-01-24 | 2017-01-24 | A kind of multirobot collaboration underwater terrain matching navigation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710054066.2A CN106842209B (en) | 2017-01-24 | 2017-01-24 | A kind of multirobot collaboration underwater terrain matching navigation system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106842209A true CN106842209A (en) | 2017-06-13 |
| CN106842209B CN106842209B (en) | 2019-04-23 |
Family
ID=59120929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710054066.2A Active CN106842209B (en) | 2017-01-24 | 2017-01-24 | A kind of multirobot collaboration underwater terrain matching navigation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106842209B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107290765A (en) * | 2017-07-13 | 2017-10-24 | 任勇 | The Cooperative Localization Method and system of underwater vehicle |
| CN107554694A (en) * | 2017-08-22 | 2018-01-09 | 哈尔滨工程大学 | A kind of unmanned surface vehicle underwater three dimensional terrain detection system |
| CN108318034A (en) * | 2018-01-09 | 2018-07-24 | 浙江大学 | A kind of AUV based on sonar map times depressed place air navigation aid |
| CN108594846A (en) * | 2018-03-23 | 2018-09-28 | 哈尔滨工程大学 | More AUV flight patterns optimal control methods under a kind of obstacle environment |
| CN110244748A (en) * | 2019-06-27 | 2019-09-17 | 浙江海洋大学 | Underwater target detection system and detection method |
| CN111220146A (en) * | 2019-12-10 | 2020-06-02 | 哈尔滨工程大学 | Underwater terrain matching and positioning method based on Gaussian process regression learning |
| CN111307136A (en) * | 2020-02-12 | 2020-06-19 | 哈尔滨工程大学 | Underwater navigation terrain matching navigation method for double intelligent underwater robots |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102446367A (en) * | 2011-09-19 | 2012-05-09 | 哈尔滨工程大学 | Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data |
| CN103047983A (en) * | 2013-01-14 | 2013-04-17 | 哈尔滨工程大学 | Method for navigating underwater robot by matching surface terrain |
| CN103090861A (en) * | 2013-01-14 | 2013-05-08 | 哈尔滨工程大学 | Multi-thread terrain matching and navigating method for underwater robot |
| CN104898594A (en) * | 2015-04-02 | 2015-09-09 | 山东省科学院海洋仪器仪表研究所 | Communication device and communication method for underwater robot group cooperative control |
| CN106123850A (en) * | 2016-06-28 | 2016-11-16 | 哈尔滨工程大学 | AUV prestowage multibeam sonar underwater topography mapping modification method |
-
2017
- 2017-01-24 CN CN201710054066.2A patent/CN106842209B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102446367A (en) * | 2011-09-19 | 2012-05-09 | 哈尔滨工程大学 | Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data |
| CN103047983A (en) * | 2013-01-14 | 2013-04-17 | 哈尔滨工程大学 | Method for navigating underwater robot by matching surface terrain |
| CN103090861A (en) * | 2013-01-14 | 2013-05-08 | 哈尔滨工程大学 | Multi-thread terrain matching and navigating method for underwater robot |
| CN104898594A (en) * | 2015-04-02 | 2015-09-09 | 山东省科学院海洋仪器仪表研究所 | Communication device and communication method for underwater robot group cooperative control |
| CN106123850A (en) * | 2016-06-28 | 2016-11-16 | 哈尔滨工程大学 | AUV prestowage multibeam sonar underwater topography mapping modification method |
Non-Patent Citations (1)
| Title |
|---|
| 姜朝宇 等: "AUV协同导航定位算法研究", 《舰船科学技术》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107290765A (en) * | 2017-07-13 | 2017-10-24 | 任勇 | The Cooperative Localization Method and system of underwater vehicle |
| CN107554694A (en) * | 2017-08-22 | 2018-01-09 | 哈尔滨工程大学 | A kind of unmanned surface vehicle underwater three dimensional terrain detection system |
| CN107554694B (en) * | 2017-08-22 | 2019-05-21 | 哈尔滨工程大学 | A kind of unmanned surface vehicle underwater three dimensional terrain detection system |
| CN108318034A (en) * | 2018-01-09 | 2018-07-24 | 浙江大学 | A kind of AUV based on sonar map times depressed place air navigation aid |
| CN108318034B (en) * | 2018-01-09 | 2020-05-22 | 浙江大学 | AUV docking navigation method based on sonar map |
| CN108594846A (en) * | 2018-03-23 | 2018-09-28 | 哈尔滨工程大学 | More AUV flight patterns optimal control methods under a kind of obstacle environment |
| CN110244748A (en) * | 2019-06-27 | 2019-09-17 | 浙江海洋大学 | Underwater target detection system and detection method |
| CN111220146A (en) * | 2019-12-10 | 2020-06-02 | 哈尔滨工程大学 | Underwater terrain matching and positioning method based on Gaussian process regression learning |
| CN111220146B (en) * | 2019-12-10 | 2022-10-14 | 哈尔滨工程大学 | Underwater terrain matching and positioning method based on Gaussian process regression learning |
| CN111307136A (en) * | 2020-02-12 | 2020-06-19 | 哈尔滨工程大学 | Underwater navigation terrain matching navigation method for double intelligent underwater robots |
| CN111307136B (en) * | 2020-02-12 | 2021-08-27 | 哈尔滨工程大学 | Underwater navigation terrain matching navigation method for double intelligent underwater robots |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106842209B (en) | 2019-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106842209A (en) | A kind of multirobot cooperates with underwater terrain matching navigation system and method | |
| CN103477244B (en) | The structure change of detection submerged structure | |
| CN102446367B (en) | Method for constructing three-dimensional terrain vector model based on multi-beam sonar submarine measurement data | |
| US9651698B2 (en) | Multi-beam bathymetric chart construction method based on submarine digital depth model feature extraction | |
| CN102841373B (en) | Microseism positioning method based on azimuth angle constraint | |
| CN109782304A (en) | A kind of the GNSS cheating interference detection method and system of signal acquisition phase | |
| CN104076355B (en) | Tracking before Dim targets detection in strong clutter environment based on dynamic programming | |
| CN109459040A (en) | More AUV co-located methods based on RBF neural auxiliary volume Kalman filtering | |
| CN110706827A (en) | Method and system for extracting water flow information of navigable water area based on ship AIS big data | |
| CN105137394A (en) | Super-short baseline water sound positioning system based on maximum likelihood estimation and positioning algorithm | |
| CN104198992A (en) | Passive underwater target positioning method based on compressed sensing of multipath time delay structure | |
| CN103076604B (en) | Method for measuring distance of low-frequency underwater sound pulse signal on basis of frequency dispersion features | |
| CN106871901B (en) | A kind of underwater terrain matching air navigation aid based on terrain feature matching | |
| CN103323815A (en) | Underwater acoustic locating method based on equivalent sound velocity | |
| CN105115492A (en) | Underwater topography matching navigation system based on acoustics Doppler log | |
| CN103745123B (en) | Automatic processing method of multi beam sounding data based on mobile sub windows and variable operators | |
| CN104793212A (en) | Method for active-sonar remote detection by means of sound wave sub-bottom reflection | |
| CN110389377B (en) | Microseism offset imaging positioning method based on waveform cross-correlation coefficient multiplication | |
| CN102224523A (en) | Stereo matching process system, stereo matching process method, and recording medium | |
| CN103090861A (en) | Multi-thread terrain matching and navigating method for underwater robot | |
| CN109932690A (en) | A kind of multi-target underwater acoustic positioning method based on received signal strength | |
| CN109632258A (en) | A kind of internal wave of ocean acoustic detection method that the transmitting-receiving based on vector sensor is isolated | |
| CN112731480A (en) | Ground signal source direct positioning method based on low-earth orbit satellite | |
| CN206095257U (en) | Integrated navigation system of robot is tourd to intelligence | |
| CN106908036B (en) | A kind of AUV multi-beam Bathymetric Data patterning process based on local offset |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |