CN108519108B - Simulation test method for navigation performance of underwater glider - Google Patents
Simulation test method for navigation performance of underwater glider Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a simulation test method for navigation performance of an underwater glider, which comprises the following steps: selecting one point on land as an initial position point Glider of the underwater Glider, taking the Glider as a center, and arranging n test points at intervals of delta R and rotation delta omega; the underwater Glider is placed at the Glider, the longitude and the latitude of the current position are returned to the shore-based monitoring station, and an error circle radius is given to the underwater Glider; setting an initial value of the error circle radius of the underwater glider as R1, setting the distance between the underwater glider and the first test point as Delta R, wherein R1 is less than Delta R, and executing profile movement action according with the condition that the underwater glider arrives at the target point by taking the first test point as the target point; the error circle radius of the underwater glider is changed to R2, R2 > -Delta R, which accords with the condition that the underwater glider reaches a target point; and changing the target point to a second test point, and continuing to execute the steps until all the test points are finished. The invention can realize the simulated navigation of the underwater glider on land and obtain good test effect.
Description
Technical Field
The invention belongs to the technical field of underwater gliders, and particularly relates to a method for simulating and testing navigation performance of an underwater glider.
Background
Because the underwater glider is a marine device which works in deep water for a long time, the actual performance (including the working performance of each mechanism and the reliability of a navigation strategy) needs to be tested in the deep water environment, but the practical problem is that the deep sea is generally positioned in a sea area far away from China continents, a large amount of manpower, material resources and financial resources are consumed by carrying out a sea test, and the test of a navigation system only needs to float on the water, so that the relation with the depth is not large.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a simulation test method for the navigation performance of an underwater glider, which can realize the simulation navigation of the underwater glider on the land and obtain a good test effect.
The purpose of the invention is realized by the following technical scheme.
The invention discloses a simulation test method for navigation performance of an underwater glider, which comprises the following steps:
step one, optionally selecting a point on a land horizontal plane as an initial position point Glider of an underwater Glider, setting a test point by rotating a certain angle delta omega along the same direction at intervals of a certain radius distance delta R by taking the initial position point as a center, and setting n test points in total;
placing the underwater glider at an initial position, electrifying the underwater glider, starting navigation communication, returning the longitude and the latitude of the current position to a shore-based monitoring station through the iridium satellite by the underwater glider, keeping the underwater glider still, and endowing the underwater glider with a variable parameter, namely an error circle radius;
step three, presetting an initial value of the radius of an error circle of the underwater glider as R1 by taking a first test point as a target point, obtaining the distance between the underwater glider and the first test point as DeltaR through calculation, wherein R1 is less than DeltaR, the first test point is outside the error circle taking the underwater glider as the center of a circle and R1 as the radius, and does not accord with the condition that the underwater glider reaches the target point, and the underwater glider starts to execute section motion action;
after the profile movement action is completed, the underwater glider is started to communicate again, the shore-based monitoring station changes the radius of an error circle of the underwater glider into R2 through wireless communication or iridium communication, the distance between the underwater glider and a first test point is obtained through calculation, the distance is delta R, R2 is greater than delta R, the first test point is located in the error circle with the underwater glider as the center of a circle and R2 as the radius, and the condition that the underwater glider reaches a target point is met;
changing the target point to a second test point, wherein the distance between the underwater glider and the second test point is obtained through calculation and is 2 Delta R, R2 is less than 2 Delta R, the second test point is outside an error circle which takes the underwater glider as the center of circle and R2 as the radius, the condition that the underwater glider reaches the target point is not met, and the underwater glider starts to execute the section motion action;
after the section movement action is finished, the underwater glider is started to communicate again, the shore-based monitoring station changes the error circle radius of the underwater glider into R3 through wireless communication or iridium communication, the distance between the underwater glider and the first test point is obtained through calculation and is 2 delta R, R3 is more than 2 delta R, the second test point is located in an error circle with the underwater glider as the center of a circle and R3 as the radius, and the condition that the underwater glider reaches the target point is met;
and step seven, changing the target point to a third test point, and repeatedly continuing to execute according to the step five and the step six until all the test points are finished, namely verifying the reliability of the underwater glider navigation strategy.
In the first step, the n test points are denoted as T1, T2, and T3 … … Tn, where n is 360 °/[ delta ] ω, that is:
point T1 is on an error circle centered at Glider and having a radius Δ R;
point T2 is on an error circle centered at Glider and having a radius of 2 Δ R;
point T3 is on an error circle centered at Glider and having a radius of 3 Δ R;
……
tn points are on an error circle centered at Glider with a radius of n Δ R.
In the process of carrying out section motion actions by the underwater glider, the angle change of the underwater glider in the underwater actual motion process is simulated by rotating the angle of the underwater glider in the horizontal direction, and whether the swing of the tail steering engine meets the actual condition or not is observed, so that whether the navigation performance is reliable or not is judged.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the invention can realize the simulated navigation of the underwater glider on land, and the navigation performance is used as an important parameter of the underwater glider, thereby directly influencing the working capacity of the underwater glider. In the past, to verify the navigation performance of an underwater glider, the underwater glider needs to go to a deep sea environment with the water depth of more than kilometer, and the complexity of the deep sea environment increases various uncertain factors. If the condition that the underwater glider is lost is very easy to happen before the navigation performance is not fully verified, meanwhile, an unidentified object in the deep sea environment can cause damage or serious injury or even grounding on the appearance of the underwater glider, and the conditions can generate great loss on economic benefit and scientific research effect. Meanwhile, the traditional navigation performance test and verification needs to rent fishing vessels or even scientific investigation vessels, the time is often several months, and the arrangement can be completed by 3 to 5 persons, so that the requirements on the consumption of manpower, material resources and financial resources are high. The land simulation navigation of the invention can effectively avoid the problems and achieve the most economical and effective test conditions. In addition, when the underwater glider works in a deep water area, in the process of executing section movement, because the water pressure is increased, the load of an executing structure is increased, the work of the underwater glider is increased, the energy consumption is obviously increased, the requirement on the energy is severer when the underwater glider is used as equipment powered by a battery, and the less the energy consumption is, the better the energy consumption is when the same test standard condition is achieved. The underwater glider is arranged on the land, and is in a water-free area state, the underwater glider works under no water pressure, the load is almost zero, the electric quantity consumption magnitude of the underwater glider caused by the movement is very small and can be almost ignored, and the electric quantity consumption of the underwater glider is effectively saved. In addition, if the navigation target points of the underwater glider to be tested are too many, the total mileage is long, and the navigation test of all the target points is completed in consideration of the actual running speed of the underwater glider, the time is usually long, and is as long as several months or even one year. The invention can effectively complete the navigation performance test of large voyage and multiple target points by simulating the method of setting the radius of the error circle and changing the further remote target points through setting.
Drawings
FIG. 1 is a routing diagram of selected test points in an embodiment;
FIG. 2 is a schematic illustration of an embodiment of an underwater glider not reaching a first test point;
FIG. 3 is a schematic illustration of the embodiment of the underwater glider reaching a first test point.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention discloses a simulation test method for navigation performance of an underwater glider, which comprises the following steps:
step one, optionally selecting a point on a land horizontal plane as an initial position point Glider of the underwater Glider, setting a test point by rotating a certain angle delta omega along the same direction at intervals of a certain radius distance delta R by taking the initial position point as a center, and setting n test points in total.
The n test points are denoted as T1, T2, and T3 … … Tn, where n is 360 °/. DELTA.. omega., that is:
point T1 is on an error circle centered at Glider and having a radius Δ R;
point T2 is on an error circle centered at Glider and having a radius of 2 Δ R;
point T3 is on an error circle centered at Glider and having a radius of 3 Δ R;
……
tn points are on an error circle centered at Glider with a radius of n Δ R.
And step two, placing the underwater glider at the starting position, electrifying the underwater glider, starting navigation communication, detecting iridium and GPS signals by the underwater glider, enabling the signals to be normal, and returning the longitude and the latitude of the current position to the shore-based monitoring station through the iridium by the underwater glider. The underwater glider remains stationary, giving the underwater glider a variable parameter, i.e. the error circle radius.
Considering that the test point is an accurate point and an interval, the underwater glider cannot accurately reach the position of one point, and therefore an error circle radius value needs to be designed, namely when the underwater glider reaches the inside of a circle with the test point as the center and the error circle radius as the radius, the specified target point can be considered to be reached. In all tested environment parameters, the coordinate of the current position of the underwater glider is a fixed value, the n test points are fixed values, the radius of the error circle is a variable parameter, and the numerical value of the radius of the error circle can be changed through the communication between the shore-based monitoring station and the underwater glider. Therefore, by continuously changing the radius of the error circle, the navigation test of all ten points is guaranteed to be completed on the premise that the underwater glider is kept still.
And thirdly, presetting an initial value of the radius of an error circle of the underwater glider as R1 by taking the first test point as a target point, obtaining the distance between the underwater glider and the first test point as DeltaR and R1 < DeltaR through calculation, wherein the first test point is outside the error circle which takes the underwater glider as a circle center and R1 as a radius and is not in accordance with the condition that the underwater glider reaches the target point, and at the moment, the underwater glider starts to execute a section motion action.
In the process of carrying out section motion actions by the underwater glider, the angle change of the underwater glider in the underwater actual motion process is simulated by rotating the angle of the underwater glider in the horizontal direction, and whether the swing of the tail steering engine meets the actual condition or not is observed, so that whether the navigation performance is reliable or not is judged.
And fourthly, after the motion of one or more sections is completed, the underwater glider is started to communicate again, at the moment, the shore-based monitoring station changes the error circle radius of the underwater glider into R2 through wireless communication or iridium communication, the distance between the underwater glider and the first test point is obtained through calculation and is delta R, R2 is greater than delta R, the first test point falls in an error circle with the underwater glider as the center of a circle and R2 as the radius, and the condition that the underwater glider reaches the target point is met.
And fifthly, changing the target point to a second test point, wherein the distance between the underwater glider and the second test point is obtained through calculation and is 2 Delta R, R2 is less than 2 Delta R, the second test point is outside an error circle with the underwater glider as the center of circle and R2 as the radius, the condition that the underwater glider reaches the target point is not met, and the underwater glider starts to execute the section motion action.
And step six, after the section movement action is finished, the underwater glider is started to communicate again, the shore-based monitoring station changes the error circle radius of the underwater glider into R3 through wireless communication or iridium communication, the distance between the underwater glider and the first test point is obtained through calculation and is 2 delta R, R3 is larger than 2 delta R, the second test point is located in an error circle with the underwater glider as the center of a circle and R3 as the radius, and the condition that the underwater glider reaches the target point is met.
And step seven, changing the target point to a third test point, and repeatedly continuing to execute according to the step five and the step six until all the test points are finished, namely verifying the reliability of the underwater glider navigation strategy.
Example (b):
taking a position point Glider (39 degrees 8 '8.72' N, 117 degrees 6 '35.58' E) on a square lawn in front of the national ocean technology center as an initial position point of the underwater Glider, taking the Glider point as the center, setting a test point by rotating 36 degrees anticlockwise at intervals of 500m radius distance, and setting 10 test points in total, wherein the longitude and latitude coordinates of each test point are as follows:
glider (39 ° 8'8.72"N, 117 ° 6'35.58" E), T1(39 ° 8'25.63"N, 117 ° 6'35.08" E), T2(39 ° 8'35.97"N, 117 ° 5'33.87" E), T3(39 ° 8'24.53"N, 117 ° 5'49.72" E), T4(39 ° 7'49.10"N, 117 ° 5'13.98" E), T5(39 ° 7'02.16"N, 117 ° 5'32.21" E), T6(39 ° 6'31.28"N, 117 ° 6'33.97" E), T7(39 ° 6'37.13"N, 117 ° 8'01.49" E), T8(39 ° 7'29.97"N, 117 ° 9'15.53" E), T6(39 ° 6' 37.12 "N, 117 ° 8'01.49" E), T8(39 ° 7'29.97"N, 117 ° 9'15.53" E "), T6(39 ° 7' 3512" N, 117 ' 3512 "N, 35 ' 19" E), and the post-test distribution of each point 38.11, 7' 25 '38.11, 7' N, 7' 25 ' 9' 19 ' E, 7' 19 ' E, 7' E, as shown in fig. 7, 7.
Wherein:
point T1 is on an error circle centered at the Glider position and having a radius of 500 meters;
point T2 is on an error circle centered at the Glider position with a radius of 1000 meters;
point T3 is on an error circle centered at the Glider position with a radius of 1500 meters;
point T4 is on an error circle centered at the Glider position and having a radius of 2000 meters;
point T5 is on an error circle centered at the Glider position and having a radius of 2500 meters;
point T6 is on an error circle centered at the Glider position and having a radius of 3000 meters;
point T7 is on an error circle centered at the Glider position and having a radius of 3500 meters;
point T8 is on an error circle centered at the Glider position and having a radius of 4000 meters;
point T9 is on an error circle centered at the Glider position with a radius of 4500 meters;
point T10 is on an error circle with a radius of 5000 meters centered on the Glider position.
And (3) laying the underwater Glider at the Glider point, electrifying the underwater Glider, starting navigation communication, and detecting iridium and GPS signals by the underwater Glider. And when the signal is normal, the underwater glider firstly returns the current longitude and latitude to the shore-based monitoring station through the iridium satellite. After the sending is finished, the first test point is taken as a target point, the radius of an error circle initially set in the underwater glider is 200m at the beginning of power-on, the distance between the current coordinate of the underwater glider and the set coordinate of the first test point is 500m through calculation, and as the distance is 500 & gt 200m, the first test point is outside the error circle with the underwater glider as the center of a circle and 200m as the radius and does not accord with the condition that the underwater glider reaches the target point, as shown in fig. 2. At the moment, the underwater glider starts to execute the section movement action, and the underwater glider has no load due to the water-free state, so that the electric quantity consumption magnitude of the underwater glider is very small and can be ignored. In the action process of the underwater glider, the angle change of the underwater glider in the underwater actual motion process is simulated by rotating the angle of the underwater glider in the horizontal direction, and whether the swing of the tail steering engine meets the actual condition or not is observed, so that whether the navigation performance is reliable or not is judged. When one or more profile actions are completed, the underwater glider starts communication again. At the moment, the shore-based monitoring station changes the radius of the error circle of the underwater glider into 600m through wireless communication or iridium communication, the steps are executed again, the distance between the current coordinate of the underwater glider and the coordinate of the first test point is still 500m through calculation, the first test point falls in the error circle which takes the underwater glider as the center of a circle and 600m as the radius due to the fact that 500 is less than 600, the condition that the underwater glider reaches the target point is met, and the target point is changed to the second test point at the moment, as shown in figure 3. And continuing to execute the steps until all target points are completed, namely verifying that the navigation strategy of the underwater glider is reliable.
While the present invention has been described in terms of its functions and operations with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise functions and operations described above, and that the above-described embodiments are illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope or spirit of the invention as defined by the appended claims.
Claims (3)
1. A simulation test method for navigation performance of an underwater glider is characterized by comprising the following steps:
step one, optionally selecting a point on a land horizontal plane as an initial position point Glider of an underwater Glider, setting a test point by rotating a certain angle delta omega along the same direction at intervals of a certain radius distance delta R by taking the initial position point as a center, and setting n test points in total;
placing the underwater glider at an initial position, electrifying the underwater glider, starting navigation communication, returning the longitude and the latitude of the current position to a shore-based monitoring station through the iridium satellite by the underwater glider, keeping the underwater glider still, and endowing the underwater glider with a variable parameter, namely an error circle radius;
step three, presetting an initial value of the radius of an error circle of the underwater glider as R1 by taking a first test point as a target point, obtaining the distance between the underwater glider and the first test point as DeltaR through calculation, wherein R1 is less than DeltaR, the first test point is outside the error circle taking the underwater glider as the center of a circle and R1 as the radius, and does not accord with the condition that the underwater glider reaches the target point, and the underwater glider starts to execute section motion action;
after the profile movement action is completed, the underwater glider is started to communicate again, the shore-based monitoring station changes the radius of an error circle of the underwater glider into R2 through wireless communication or iridium communication, the distance between the underwater glider and a first test point is obtained through calculation, the distance is delta R, R2 is greater than delta R, the first test point is located in the error circle with the underwater glider as the center of a circle and R2 as the radius, and the condition that the underwater glider reaches a target point is met;
changing the target point to a second test point, wherein the distance between the underwater glider and the second test point is obtained through calculation and is 2 Delta R, R2 is less than 2 Delta R, the second test point is outside an error circle which takes the underwater glider as the center of circle and R2 as the radius, the condition that the underwater glider reaches the target point is not met, and the underwater glider starts to execute the section motion action;
after the section movement action is finished, the underwater glider is started to communicate again, the shore-based monitoring station changes the error circle radius of the underwater glider into R3 through wireless communication or iridium communication, the distance between the underwater glider and the first test point is obtained through calculation and is 2 delta R, R3 is more than 2 delta R, the second test point is located in an error circle with the underwater glider as the center of a circle and R3 as the radius, and the condition that the underwater glider reaches the target point is met;
and step seven, changing the target point to a third test point, and repeatedly continuing to execute according to the step five and the step six until all the test points are finished, namely verifying the reliability of the underwater glider navigation strategy.
2. The method for simulating the navigation performance of the underwater glider according to claim 1, wherein the n test points in the first step are denoted as T1, T2, T3 … … Tn, where n is 360 °/. DELTA.ω:
point T1 is on an error circle centered at Glider and having a radius Δ R;
point T2 is on an error circle centered at Glider and having a radius of 2 Δ R;
point T3 is on an error circle centered at Glider and having a radius of 3 Δ R;
……
tn points are on an error circle centered at Glider with a radius of n Δ R.
3. The method for simulating and testing the navigation performance of the underwater glider according to claim 1, wherein in the process of executing the section motion action of the underwater glider, the angle change of the underwater glider in the underwater actual motion process is simulated by rotating the angle of the underwater glider in the horizontal direction, and whether the swing of the tail steering engine meets the actual condition or not is observed, so that whether the navigation performance is reliable or not is judged.
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