CN107976188B - AUV docking navigation method based on ranging sonogram - Google Patents

AUV docking navigation method based on ranging sonogram Download PDF

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CN107976188B
CN107976188B CN201710949634.5A CN201710949634A CN107976188B CN 107976188 B CN107976188 B CN 107976188B CN 201710949634 A CN201710949634 A CN 201710949634A CN 107976188 B CN107976188 B CN 107976188B
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auv
base station
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杨灿军
林鸣威
李德骏
张涛
王天磊
林日
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Zhejiang University ZJU
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Abstract

The invention discloses an AUV docking navigation method based on distance measurement acoustic communication, which comprises the following steps: (1) sailing the AUV to a position with the same depth as the seabed base station and then sailing towards the seabed base station; (2) the position of the AUV is used as the center of a circle, the distance between the AUV and the seabed base station measured by the ranging acoustic communications is used as the radius to draw a circle, and the intersection point of the drawn circles when the AUV is at different positions is used for estimating the position of the seabed base station; (3) carrying out dead reckoning of the AUV according to the obtained position of the seabed base station, and navigating the AUV; (4) when the distance between the AUV and the seabed base station reaches a preset distance threshold value, the AUV surrounds according to a circular track with a preset radius, and an expansion Kalman filtering algorithm is adopted to find a position where the AUV can be reliably positioned in the surrounding process by combining the distance information between the AUV and the seabed base station; (5) the AUV sails from the position with credible positioning to the seabed base station to enter the visual tail end guide range and enters the seabed base station according to the guide of the visual tail end. The navigation method has high precision and low cost.

Description

AUV docking navigation method based on ranging sonogram
Technical Field
The invention relates to a navigation and guidance method for a docking process of an AUV and a submarine base station, in particular to an AUV docking navigation method based on distance measurement acoustic communication.
Background
With the development of marine resources, Autonomous Underwater Vehicles (AUVs) are increasingly widely used. However, the AUV carries limited energy under water, and therefore requires recharging the AUV. In order to reduce costs, it is desirable that this charging process can be carried out directly underwater, rather than being carried out onshore with the mother vessel recovering it.
Chinese patent publication No. CN102320362A discloses a submarine docking device for recovering AUVs for charging. In order for the AUV to successfully interface with the subsea base station, an accurate navigation algorithm is required.
Because electromagnetic waves are rapidly attenuated in seawater, navigation and positioning can not be carried out on the seabed by using a GPS. Therefore, in the ocean, the navigation positioning is mainly performed by means of an acoustic positioning system, such as an Ultra Short Baseline (USBL), a Short Baseline (SBL), a Long Baseline (LBL), and the like.
Chinese patent publication No. CN104457754A discloses a navigation algorithm for positioning a submersible vehicle by using a long baseline, however, the premise of positioning by using a long baseline is that the baseline needs to be laid in advance in the region where the submersible vehicle is sailing, which increases the difficulty and cost of implementation. Although the difficulty of using the SBL and the USBL is reduced compared with that of using the LBL, the cost of the two positioning systems is still high, and the two positioning systems are difficult to popularize and apply, so that a navigation positioning method which has high navigation positioning precision and low cost and is suitable for an AUV and a submarine base station is needed.
After the AUV enters the visual guidance area, it needs to be ensured that the AUV can always see the navigation lights on the seabed base station under the interference of ocean currents, and therefore, a docking guidance method suitable for the AUV under the interference of ocean currents is needed.
Disclosure of Invention
The invention provides an AUV docking navigation method based on distance measurement acoustic communications, which is high in precision and low in cost.
An AUV docking navigation method based on ranging acoustic communication comprises the following steps:
(1) the AUV is submerged to the same depth as the seabed base station and navigates towards the seabed base station;
(2) in the process of navigating towards the seabed base station, the position of the AUV is taken as the center of a circle, the distance between the AUV and the seabed base station measured by ranging acoustic communications is taken as the radius to draw a circle, and the position of the seabed base station is estimated by using the intersection point of the circles drawn when the AUV is at different positions;
(3) carrying out dead reckoning of the AUV according to the obtained position of the seabed base station, and navigating the AUV;
(4) when the distance between the AUV and the seabed base station reaches a preset distance threshold value, the AUV surrounds according to a circular track with a preset radius, and an expansion Kalman filtering algorithm is adopted to find a position where the AUV can be reliably positioned in the surrounding process by combining the distance information between the AUV and the seabed base station;
(5) the AUV sails from the position with credible positioning to the seabed base station to enter the visual tail end guide range and enters the seabed base station according to the guide of the visual tail end.
The distance measuring sound channel is a pair of sound channels (Acoustic modems) with distance measuring function, one end of each sound channel is arranged on an AUV (autonomous underwater vehicle), and the other end of each sound channel is arranged on a submarine base station. And the AUV continuously receives distance information between the two transmitted by the seabed base station in the driving process.
In the step (2), the method for estimating the position of the seabed base station comprises the following steps:
according to the sequence of obtaining the distance information, the positions P1 and P2 of the AUV at two different moments are respectively taken as the center of a circle, the distances L1 and L2 between the corresponding AUV and the seabed base station are taken as the radius to draw a circle, and when the two circles intersect at one point, the intersection point is the position of the seabed base station;
if the two circles intersect at two points Q1 and Q2; drawing a circle by taking the position P3 of the AUV as the center of the circle and the distance L3 between the corresponding AUV and the seabed base station as the radius, wherein the circle intersects with the first two circles at a point Mi, and i is 0, 1, 2, 3 or 4;
when i is equal to 0, reading the position of the AUV at the next moment to replace P3, and continuing to draw a circle until i is equal to 0;
when i is not equal to 0, calculating the distances | MiQ1| and | MiQ2| between Mi and Q1 and Q2, and if | MiQ1| is the shortest distance, then Q1 is the position of the seabed base station; otherwise, Q2 is the location of the subsea base station.
And navigating the AUV after the position of the seabed base station is obtained.
In order to ensure the navigation accuracy, preferably, the steps (2) and (3) are repeated continuously to update the position of the seabed base station during the course of the AUV navigating towards the seabed base station.
In order to further improve the navigation precision, when the AUV navigates to a certain distance from the seabed base station, the AUV is navigated by adopting the navigation method with higher precision in the step (4).
In the step (4), the preset distance threshold and the preset radius are determined according to the actual navigation positioning effect.
In the step (4), the system state equation adopted by the extended kalman filtering algorithm is as follows:
Figure BDA0001431951420000031
wherein f is a system function, XkIs the system state variable at time k, Xk-1Is the system state variable at time k-1, vk-1Is the state noise vector at time k-1, t is the sampling interval, u is the AUV forward velocity, v is the AUV lateral velocity, ψ is the yaw angle of the AUV, (x)AUV，yAUV) Absolute coordinates of the plane of the AUV on the seabed base station;
the observation equation used is:
Figure BDA0001431951420000032
wherein Z iskFor the observation equation, g is the measurement function, wkTo observe noise, vsoundSpeed of sound propagation in sea water, (x)tra，ytra) Absolute coordinates when the AUV emits an acoustic signal, (x)rec，yrec) The absolute coordinates of the AUV when receiving the response signal returned by the submarine base station.
Further, in step (4), the method for finding the credible location of the AUV includes:
(4-1) initializing the state of the AUV:
P0＝var(X0)，X0＝E(X0)
wherein, P0Is an initial state variable X0The covariance matrix of (a);
(4-2) status update of AUV:
Figure BDA0001431951420000033
Xk，k-1＝f(Xk-1)
wherein Q isk-1Is a covariance matrix of state noise, Pk，k-1To update the process state variable covariance matrix, Xk，k-1To update process state variables, Pk-1A state variable covariance matrix at the moment of k-1;
(4-3) performing state correction on the AUV:
Figure BDA0001431951420000041
Figure BDA0001431951420000042
Xk＝Xk，k-1+Gk(Tk-g(Xk，k-1))
wherein G iskIs a Kalman gain matrix, Xk，k-1To update the process state variables, TkTime interval for transmitting acoustic signal to seabed base station and receiving response, R, for the most recent AUVkCovariance matrix, P, for the measured noise at time kkA state variable covariance matrix at the moment k;
(4-4) judging the positioning error:
the structural error discriminant is as follows:
Figure BDA0001431951420000043
if Delta < gamma2If the AUV is determined to be credible, determining that the AUV is positioned at the moment; otherwise, the AUV continues to perform surrounding navigation according to the circular track;
in the above formula, γ2Is a set threshold constant. Gamma ray2According to the actual AUV docking success rate.
More preferably, in the step (4), the steps (4-1) and (4-2) are repeatedly executed to perform dead reckoning to obtain the position information of the navigation device for navigation in the interval that the observation data is not obtained to perform the state correction; and after obtaining the position with credible positioning, performing combined navigation according to the steps (4-1) - (4-3).
In the step (5), after the AUV enters the guidance range of the visual end, the AUV enters the seabed base station according to the guidance of the visual end, and the method includes:
(5-1) adjusting the opening direction of the seabed base station to be the same as the direction of the ocean current;
the ocean current direction and size are measured by the seabed base station according to an Acoustic Doppler Current Profiler (ADCP) carried by the seabed base station, and the opening direction of the seabed base station is adjusted to be the same as the ocean current direction;
the opening direction of the seabed base station is adjusted, the influence of ocean current on AUV butt joint can be overcome, and the AUV butt joint success rate is improved;
(5-2) calculating an AUV yaw angle constraint range corresponding to a critical condition that the submarine base station appears in the AUV sight range;
calculating an AUV yaw angle constraint range according to the visual angle of the AUV head camera and the yaw angle of the AUV, and taking the AUV yaw angle constraint range as a yaw angle boundary of the AUV in the guidance control process;
(5-3) performing guidance control by taking a connection line between the AUV and the seabed base station as an ideal air route, wherein the yaw angle of the AUV is controlled within the AUV yaw angle constraint range calculated in the step (5-2);
and (5-4) entering the AUV into the submarine base station.
Compared with the prior art, the navigation method has the advantages that:
(1) the relative position relation between the AUV and the submarine base station is obtained by utilizing a pair of acoustic channels with distance measuring functions, and compared with LBL, SBL and USBL underwater acoustic positioning systems, the cost is reduced;
(2) the absolute position of the AUV is solved by using a circle drawing method of distance information, and the method is simple and has good real-time property;
(3) the AUV navigates at the front end of the seabed base station according to a circular track, positioning points meeting error requirements are continuously searched, and positioning accuracy is improved;
(4) the submarine base station can overcome the influence of ocean current on AUV butt joint through automatic steering, and the butt joint success rate is improved.
Drawings
FIG. 1 is a schematic diagram of an AUV circle-drawing positioning subsea base station;
FIG. 2 is a schematic diagram of the positioning of the AUV around a circular trajectory;
fig. 3 is a schematic diagram of the subsea base station adjusting its opening direction according to the direction of ocean currents.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
A pair of acoustic transmitters with distance measuring function is arranged on the AUV at one end and on the seabed base station at the other end. The GPS coordinates of the deployed position of the subsea base station are known. After the AUV obtains the initial position of the AUV on the water surface through the GPS, the AUV starts to dive and drives towards the seabed base station. After the AUV travels to the coverage range of the acoustic signals, the AUV can continuously receive distance information sent by the seabed base station in the process of traveling.
As shown in fig. 1, the positions of the three AUVs and the corresponding distance information are respectively taken according to the sequence of obtaining the distance information. Three of the position information are defined as: position 1(P1), position 2(P2) and position 3 (P3); the three corresponding distance information are: l1, L2 and L3; taking P1 and P2 as circle centers, the radiuses L1 and L2 respectively draw circles, and the two circles intersect at points Q1 and Q2 (when Q1 and Q2 are overlapped, Q1(Q2) is the position of the seabed base station); drawing a circle by taking P3 as a center and L3 as a radius, wherein the circle has i intersection points (i is 0, 1, 2, 3 or 4) with the previous two circles, the ith intersection point is a point Mi, and the absolute coordinates of the horizontal plane of the seabed base station are assumed to be (0, 0);
if i is equal to 0, continuing to read next distance information to replace the distance and the position information of the position 3, and continuing to draw a circle until i is not equal to 0; the distances | MiQ1| and | MiQ2| of all the intersection points Mi from Q1 and Q2 are calculated. If the shortest distance is one of | MiQ1|, then Q1 is the position of the subsea base station; conversely, Q2 is the location of the subsea base station;
after the AUV obtains the base station position, the AUV opens towards the submarine base station by dead reckoning. In the process, the circle drawing method is continuously repeated to update the position of the seabed base station, so that the navigation precision is ensured.
As shown in fig. 2, when the AUV navigates to the area in front of the subsea base station for a certain distance (the distance is determined according to the actual navigation effect), the AUV starts to circle along a circular trajectory (the center of the circular trajectory is not determined, and the radius thereof may be determined) with a certain radius (the radius is determined according to the actual navigation effect).
And in the surrounding process, an expanded Kalman filtering algorithm is adopted to find the credible positioning position of the AUV by combining the distance information between the AUV and the seabed base station.
The system state equation adopted by the extended Kalman filtering algorithm is as follows:
Figure BDA0001431951420000061
wherein f is a system function, XkIs the system state variable at time k, Xk-1Is the system state variable at time k-1, vk-1Is the state noise vector at time k-1, t is the sampling interval, u is the AUV forward velocity, v is the AUV lateral velocity, ψ is the yaw angle of the AUV, (x)AUV，yAUV) Absolute coordinates of the plane of the AUV on the seabed base station;
the observation equation used is:
Figure BDA0001431951420000062
wherein Z iskFor the observation equation, g is the measurement function, wkTo observe noise, vsoundSpeed of sound propagation in sea water, (x)tra，ytra) Absolute coordinates when the AUV emits an acoustic signal, (x)rec，yrec) The absolute coordinates of the AUV when receiving the response signal returned by the submarine base station.
The method for finding the credible location of the AUV comprises the following steps:
(4-1) initializing the state of the AUV:
P0＝var(X0)，X0＝E(X0)
wherein, P0Is an initial state variable X0The covariance matrix of (a);
(4-2) status update of AUV:
Figure BDA0001431951420000071
Xk，k-1＝f(Xk-1)
wherein Q isk-1Is a covariance matrix of state noise, Pk，k-1To update the process state variable covariance matrix, Xk，k-1To update process state variables, Pk-1A state variable covariance matrix at the moment of k-1;
(4-3) performing state correction on the AUV:
Figure BDA0001431951420000072
Figure BDA0001431951420000073
Xk＝Xk，k-1+Gk(Tk-g(Xk，k-1))
wherein G iskIs a Kalman gain matrix, Xk，k-1To update the process state variables, TkTime interval for transmitting acoustic signal to seabed base station and receiving response, R, for the most recent AUVkCovariance matrix, P, for the measured noise at time kkA state variable covariance matrix at the moment k;
(4-4) judging the positioning error:
the structural error discriminant is as follows:
Figure BDA0001431951420000074
if Delta < gamma2If the AUV is determined to be credible, determining that the AUV is positioned at the moment; otherwise, the AUV continues to perform surrounding navigation according to the circular track;
in the above formula, γ2Is a set threshold constant. Gamma ray2According to the actual AUV docking success rate.
After the AUV obtains credible self-positioning, performing combined navigation according to the steps (4-1) - (4-3); in the interval when the state correction is performed without obtaining the observation data, the steps (4-1) and (4-2) are repeatedly executed to perform dead reckoning, and the navigation is performed by obtaining the position information of the navigation device.
When the AUV enters the visual tail end guide range, the AUV guide method needs to compensate according to the direction and the size of ocean current and is realized according to the following steps:
step 1, after the AUV drives into a visual guidance area, the submarine base station measures the direction and the size of ocean current according to an Acoustic Doppler Current Profiler (ADCP) carried by the submarine base station, and simultaneously adjusts the opening direction of the submarine base station to be the same as the ocean current direction, as shown in fig. 3;
step 2, calculating an AUV yaw angle constraint range corresponding to a critical condition that the submarine base station appears in an AUV sight line range according to the visual angle of the AUV head camera and the yaw angle of the AUV, and taking the AUV yaw angle constraint range as a yaw angle boundary in the guidance control process;
step 3, using the connection line of the AUV and the seabed base station as an ideal air route for guidance control, wherein the control range of the yaw angle is ensured to be within the boundary calculated in the step 2;
and 4, entering the AUV into the submarine base station.
The above-mentioned embodiments are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions, equivalents, etc. made within the scope of the principles of the present invention should be included in the scope of the present invention.

Claims (4)

1. An AUV docking navigation method based on ranging acoustic communication is characterized by comprising the following steps:
(1) the AUV is submerged to the same depth as the seabed base station and navigates towards the seabed base station;
(2) in the process of sailing towards the seabed base station, the position of the AUV is taken as the center of a circle, the distance between the AUV and the seabed base station measured by ranging acoustic communications is taken as the radius to draw a circle, and the intersection point of the drawn circles when the AUV is at different positions is used for estimating the position of the seabed base station, wherein the method comprises the following steps:
according to the sequence of obtaining the distance information, the positions P1 and P2 of the AUV at two different moments are respectively taken as the center of a circle, the distances L1 and L2 between the corresponding AUV and the seabed base station are taken as the radius to draw a circle, and when the two circles intersect at one point, the intersection point is the position of the seabed base station;
if the two circles intersect at two points Q1 and Q2; drawing a circle by taking the position P3 of the AUV as the center of the circle and the distance L3 between the corresponding AUV and the seabed base station as the radius, wherein the circle intersects with the first two circles at a point Mi, and i is 0, 1, 2, 3 or 4;
when i is equal to 0, reading the position of the AUV at the next moment to replace P3, and continuing to draw a circle until i is equal to 0;
when i is not equal to 0, calculating the distances | MiQ1| and | MiQ2| between Mi and Q1 and Q2, and if | MiQ1| is the shortest distance, then Q1 is the position of the seabed base station; otherwise, Q2 is the position of the subsea base station;
(3) carrying out dead reckoning of the AUV according to the obtained position of the seabed base station, and navigating the AUV;
(4) when the distance between the AUV and the seabed base station reaches a preset distance threshold value, the AUV surrounds according to a circular track with a preset radius, and an expansion Kalman filtering algorithm is adopted to find a position where the AUV can be reliably positioned in the surrounding process by combining the distance information between the AUV and the seabed base station;
(5) the AUV sails from the position with credible positioning to the seabed base station to enter the visual tail end guide range and enters the seabed base station according to the guide of the visual tail end.
2. The AUV docking guidance method of claim 1, wherein the updating of the position of the seabed base station is performed by repeating the steps (2) and (3) continuously while the AUV navigates towards the seabed base station.
3. The AUV docking guidance method according to claim 1, wherein in the step (4), the system state equation adopted by the extended Kalman filter algorithm is as follows:
Figure FDA0002368780220000021
wherein f is a system function, XkSystem for time kState variable, Xk-1Is the system state variable at time k-1, vk-1Is the state noise vector at time k-1, t is the sampling interval, u is the AUV forward velocity, v is the AUV lateral velocity, ψ is the yaw angle of the AUV, (x)AUV,yAUV) Absolute coordinates of the plane of the AUV on the seabed base station;
the observation equation used is:
Figure FDA0002368780220000022
wherein Z iskFor the observation equation, g is the measurement function, wkTo observe noise, vsoundSpeed of sound propagation in sea water, (x)tra,ytra) Absolute coordinates when the AUV emits an acoustic signal, (x)rec,yrec) The absolute coordinates of the AUV when receiving the response signal returned by the submarine base station.
4. The AUV docking guidance method of claim 1, wherein the step (5) comprises:
(5-1) adjusting the opening direction of the seabed base station to be the same as the direction of the ocean current;
(5-2) calculating an AUV yaw angle constraint range corresponding to a critical condition that the submarine base station appears in the AUV sight range;
(5-3) performing guidance control by taking a connection line between the AUV and the seabed base station as an ideal air route, wherein the yaw angle of the AUV is controlled within the AUV yaw angle constraint range calculated in the step (5-2);
and (5-4) entering the AUV into the submarine base station.
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