CN108674616A - A kind of recovery method of Autonomous Underwater Vehicle - Google Patents
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Abstract
本发明为一种自主水下航行器的回收方法，该自主水下航行器包括耐压壳体、海底地震检波模块和多自由度推进模块；该自主水下航行器在接收到水面母船的水声返回信号后抵抗海床土壤的吸附力起飞并上浮，在上浮过程中通过海底地震检波模块和多自由度推进模块的配合作用自主调整航向，最后航行至指定区域后借助遥控潜水器(ROV)通过浸没式回收装置回到水面母船；该方法具备作业范围广，环境适应能力强，运动模式多样的优点，在回收过程中既可以自主控制运行航向，又可以自动检测出水面母船位置从而通过浸没式回收装置回到水面母船，所以该项目的探索研究对于海洋技术的进一步发展具有重要意义。The invention relates to a recovery method of an autonomous underwater vehicle. The autonomous underwater vehicle includes a pressure-resistant shell, a seabed seismic detection module and a multi-degree-of-freedom propulsion module; After the acoustic return signal, it resists the adsorption force of the seabed soil and takes off and floats up. During the float up process, the course is adjusted independently through the cooperation of the seabed seismic detection module and the multi-degree-of-freedom propulsion module, and finally sails to the designated area with the help of a remotely operated vehicle (ROV). Return to the surface mother ship through the submerged recovery device; this method has the advantages of wide operating range, strong environmental adaptability, and various movement modes. The type recovery device returns to the surface mother ship, so the exploration and research of this project is of great significance for the further development of marine technology.
Description
技术领域technical field
本发明为涉及海洋技术领域的一种自主水下航行器的回收方法。The invention relates to a recovery method of an autonomous underwater vehicle, which relates to the technical field of oceans.
背景技术Background technique
目前自主水下航行器在军事海洋技术、海洋科学技术考察、海底勘探、管路维修、海底打捞等多个领域具有广泛的应用，因此自主水下航行器的研制和应用是我国海洋技术研究的重要组成部分,它对于海洋的探索、开发和利用,具有重要的理论研究意义和明确的应用背景。At present, autonomous underwater vehicles are widely used in military marine technology, marine science and technology investigation, seabed exploration, pipeline maintenance, seabed salvage and other fields. Therefore, the development and application of autonomous underwater vehicles is the focus of marine technology research in my country. It has important theoretical research significance and clear application background for the exploration, development and utilization of the ocean.
自主水下航行器通常要自带能源在水下工作，其工作时间和航行距离都有限制，因此自主水下航行器的回收是自主水下航行器服役中的一个重要环节。伴随着时代的发展，大量自主水下航行器处于在海上或海底服役中,所以对自主水下航行器的回收有了新的要求。为了更好的适应实际生产生活中的需要,自主水下航行器的回收方法成了研究的一个重点和热点。Autonomous underwater vehicles usually need their own energy to work underwater, and their working time and sailing distance are limited. Therefore, the recovery of autonomous underwater vehicles is an important link in the service of autonomous underwater vehicles. With the development of the times, a large number of autonomous underwater vehicles are in service at sea or under the sea, so there are new requirements for the recovery of autonomous underwater vehicles. In order to better meet the needs of actual production and life, the recovery method of autonomous underwater vehicles has become a focus and hot spot of research.
发明内容Contents of the invention
本发明为一种自主水下航行器的回收方法，该方法分为四个过程，分别为自主水下航行器结构设定、自主水下航行器抵抗海床土壤的吸附力起飞、自主水下航行器自主调节航态上浮和自主水下航行器航行至指定区域后借助遥控潜水器(ROV)通过浸没式回收装置回到水面母船；The invention relates to a recovery method of an autonomous underwater vehicle. The method is divided into four processes, namely, the structure setting of the autonomous underwater vehicle, the take-off of the autonomous underwater vehicle against the adsorption force of the seabed soil, and the autonomous underwater vehicle. The vehicle autonomously adjusts its navigation state and floats up, and the autonomous underwater vehicle sails to the designated area and returns to the surface mother ship through the submerged recovery device with the help of a remotely operated vehicle (ROV);
过程一、自主水下航行器结构设定：Process 1. Autonomous underwater vehicle structure setting:
自主水下航行器包括耐压壳体、海底地震检波模块和多自由度推进模块；The autonomous underwater vehicle includes a pressure-resistant hull, a seabed seismic detection module and a multi-degree-of-freedom propulsion module;
耐压壳体由高密度耐压材料构成，为自主水下航行器的主体支撑部分；The pressure-resistant shell is made of high-density pressure-resistant materials and is the main support part of the autonomous underwater vehicle;
海底地震检波模块包括三分量加速度检波器、水听器和姿态传感器，三分量加速度检波器封装于耐压壳体中，并与耐压壳体刚性固连，提高了三分量加速度检波器与海底的耦合性；水听器固定于自主水下航行器的凹槽中与海水直接接触，从而确保水听器的声学耦合性；姿态传感器封装于耐压壳体中，用以记录自主水下航行器的姿态信息，即自主水下航行器相对于地球参考系的坐标位置；The submarine seismic detection module includes a three-component acceleration geophone, a hydrophone and an attitude sensor. The three-component acceleration geophone is packaged in a pressure-resistant shell and rigidly connected to the pressure-resistant shell, which improves the connection between the three-component acceleration geophone and the seabed. The coupling of the hydrophone; the hydrophone is fixed in the groove of the autonomous underwater vehicle and is in direct contact with the sea water, thereby ensuring the acoustic coupling of the hydrophone; the attitude sensor is packaged in a pressure-resistant shell to record autonomous underwater navigation The attitude information of the vehicle, that is, the coordinate position of the autonomous underwater vehicle relative to the earth reference system;
多自由度推进模块包括4个垂向的槽道螺旋桨推进器、4个作动器和2个纵向的槽道螺旋桨推进器，4个垂向的槽道螺旋桨推进器按矩形四个顶点的规则布置于自主水下航行器的四周，提供正反双向的推力用以保持自主水下航行器运行的稳定性，必要时可改变自主水下航行器的运动姿态；4个作动器分别安装在4个垂向的槽道螺旋桨推进器上，用以在自主水下航行器改变运动姿态时产生动作控制4个垂向的槽道螺旋桨推进器；2个纵向的槽道螺旋桨推进器布置于自主水下航行器的两侧内部，提供纵向的推力用以推动自主水下航行器前进，也可通过2个纵向的槽道螺旋桨推进器的差速旋转提供转向力矩，推动自主水下航行器的转向；The multi-degree-of-freedom propulsion module includes 4 vertical slotted propellers, 4 actuators and 2 longitudinal slotted propellers, and the 4 vertical slotted propellers follow the rule of the four vertices of the rectangle Arranged around the autonomous underwater vehicle, it provides positive and negative two-way thrust to maintain the stability of the autonomous underwater vehicle, and can change the motion attitude of the autonomous underwater vehicle if necessary; the four actuators are respectively installed on The four vertical slotted propellers are used to control the four vertical slotted propellers when the autonomous underwater vehicle changes its motion attitude; the two longitudinal slotted propellers are arranged on the autonomous underwater vehicle. The interior of both sides of the underwater vehicle provides longitudinal thrust to push the autonomous underwater vehicle forward, and can also provide steering torque through the differential rotation of two longitudinal slotted propeller propellers to push the autonomous underwater vehicle. turn;
过程二、自主水下航行器抵抗海床土壤的吸附力起飞：Process 2. The autonomous underwater vehicle takes off against the adsorption force of the seabed soil:
自主水下航行器通过搭载的海底地震检波模块的水听器接收水面母船发出的水声返回信号后，2个纵向槽道螺旋桨推进器反向转动，产生的扭转力矩松动附着在自主水下航行器周围的海床土壤；同时，4个垂向的槽道螺旋桨推进器工作产生垂向推力，使自主水下航行器从海床上起飞；After the autonomous underwater vehicle receives the underwater acoustic return signal from the surface mother ship through the hydrophone of the equipped submarine seismic detection module, the propeller propellers of the two longitudinal slots rotate in reverse, and the torsional moment generated is loosely attached to the autonomous underwater navigation vehicle. the seabed soil around the vehicle; at the same time, the four vertical slot propellers work to generate vertical thrust to make the autonomous underwater vehicle take off from the seabed;
过程三、自主水下航行器自主调节航态上浮：Process 3. The autonomous underwater vehicle automatically adjusts its navigation state and floats up:
4个垂向的槽道螺旋桨推进器工作，使自主水下航行器改变为竖直航态，即一种低阻力航行姿态，自主水下航行器在2个纵向的槽道螺旋桨推进器推力的作用下克服重力上浮；同时，海底地震检波模块的姿态传感器检测自主水下航行器的当前姿态，当自主水下航行器受到海流等外力影响偏离竖直状态时，通过4个垂向的槽道推进器的短促微调将自主水下航行器修正到竖直航态，具体修正航态方法如下：The four vertical slotted propellers work to make the autonomous underwater vehicle change to a vertical navigation state, that is, a low-resistance navigation attitude. Under the action, it overcomes gravity and floats up; at the same time, the attitude sensor of the seabed seismic detection module detects the current attitude of the autonomous underwater vehicle. The short fine-tuning of the propeller corrects the autonomous underwater vehicle to the vertical state. The specific method of correcting the state is as follows:
(1)海底地震检波模块的姿态传感器检测自主水下航行器的当前姿态，得到自主水下航行器当前姿态数据集，令自主水下航行器当前姿态数据集为P＝{x,y,z,α,β,γ}，其中x为自主水下航行器当前横向坐标值，y为自主水下航行器当前纵向坐标值，z为自主水下航行器当前垂向坐标值，α为自主水下航行器当前绕横向旋转的角度值，β为自主水下航行器当前绕纵向旋转的角度值，γ为自主水下航行器当前绕垂向旋转的角度值，自主水下航行器当前姿态数据集中的坐标值与角度值都是以地球为参考系，自主水下航行器当前姿态数据集与自身内置的自主水下航行器设定姿态数据集进行数值比较，令自主水下航行器设定姿态数据集为其中a为自主水下航行器设定横向坐标值，b为自主水下航行器设定纵向坐标值，c为自主水下航行器设定垂向坐标值，θ为自主水下航行器设定绕横向旋转的角度值，φ为自主水下航行器设定绕纵向旋转的角度值，为自主水下航行器设定绕垂向旋转的角度值，自主水下航行器设定姿态数据集中的坐标值与角度值也都是以地球为参考系，从而得出平移姿态修正因子和旋转姿态修正因子，分别用于修正自主水下航行器航态的平移偏差和旋转偏差，平移姿态修正因子的计算公式如下：(1) The attitude sensor of the submarine seismic detection module detects the current attitude of the autonomous underwater vehicle, and obtains the current attitude data set of the autonomous underwater vehicle, so that the current attitude data set of the autonomous underwater vehicle is P={x,y,z ,α,β,γ}, where x is the current horizontal coordinate value of the autonomous underwater vehicle, y is the current longitudinal coordinate value of the autonomous underwater vehicle, z is the current vertical coordinate value of the autonomous underwater vehicle, and α is the The angle value of the current horizontal rotation of the underwater vehicle, β is the current angle value of the vertical rotation of the autonomous underwater vehicle, γ is the current angle value of the vertical rotation of the autonomous underwater vehicle, the current attitude data of the autonomous underwater vehicle The concentrated coordinate values and angle values are based on the earth as the reference system, and the current attitude data set of the autonomous underwater vehicle is numerically compared with the built-in autonomous underwater vehicle set attitude data set, so that the autonomous underwater vehicle set The pose dataset is Among them, a is the horizontal coordinate value set by the autonomous underwater vehicle, b is the longitudinal coordinate value set by the autonomous underwater vehicle, c is the vertical coordinate value set by the autonomous underwater vehicle, and θ is the set value of the autonomous underwater vehicle The angle value of the horizontal rotation, φ is the angle value of the autonomous underwater vehicle setting around the vertical rotation, Set the angle value of the vertical rotation for the autonomous underwater vehicle, and the coordinate values and angle values in the attitude data set of the autonomous underwater vehicle are also based on the earth as the reference system, so as to obtain the translation attitude correction factor and the rotation The attitude correction factor is used to correct the translation deviation and rotation deviation of the autonomous underwater vehicle's navigation state respectively. The calculation formula of the translation attitude correction factor is as follows:
其中，i＝1，2，3为数据集内平移数据的个数，P自主水下航行器当前姿态数据集，Pi为自主水下航行器当前姿态数据集中第i个数据的值，Q自主水下航行器设定姿态数据集，Qi为自主水下航行器设定姿态数据集中第i个数据的值，λ为拉格朗日乘子，一般取值为0.4～0.6，T为矩阵转置符号，为自主水下航行器当前姿态数据集中自主水下航行器当前横向坐标值x、自主水下航行器当前纵向坐标值y和自主水下航行器当前垂向坐标值z的平均值，为自主水下航行器设定姿态数据集中自主水下航行器设定横向坐标值a、自主水下航行器设定纵向坐标值b和自主水下航行器设定垂向坐标值c的平均值，m为平移姿态修正因子；Among them, i=1, 2, 3 are the number of translation data in the data set, P the current attitude data set of the autonomous underwater vehicle, P i is the value of the i-th data in the current attitude data set of the autonomous underwater vehicle, Q The attitude data set of the autonomous underwater vehicle, Q i is the value of the i-th data in the attitude data set of the autonomous underwater vehicle, λ is the Lagrangian multiplier, generally the value is 0.4-0.6, and T is matrix transpose notation, is the average value of the current lateral coordinate value x of the autonomous underwater vehicle, the current longitudinal coordinate value y of the autonomous underwater vehicle and the current vertical coordinate value z of the autonomous underwater vehicle in the current attitude data set of the autonomous underwater vehicle, Set the attitude data set for the autonomous underwater vehicle to set the average of the horizontal coordinate value a of the autonomous underwater vehicle, the longitudinal coordinate value b of the autonomous underwater vehicle, and the vertical coordinate value c of the autonomous underwater vehicle , m is the translation attitude correction factor;
旋转姿态修正因子的计算公式如下：The calculation formula of the rotation attitude correction factor is as follows:
其中，i＝4，5，6为数据集内旋转数据的个数，P自主水下航行器当前姿态数据集，Pi为自主水下航行器当前姿态数据集中第i个数据的值，Q自主水下航行器设定姿态数据集，Qi为自主水下航行器设定姿态数据集中第i个数据的值，λ为拉格朗日乘子，一般取值为0.4～0.6，T为矩阵转置符号，为自主水下航行器当前姿态数据集中自主水下航行器当前绕横向旋转的角度值α、自主水下航行器当前绕纵向旋转的角度值β和自主水下航行器当前绕垂向旋转的角度值γ的平均值，为自主水下航行器设定姿态数据集中自主水下航行器设定绕横向旋转的角度值θ、自主水下航行器设定绕纵向旋转的角度值φ和自主水下航行器设定绕垂向旋转的角度值的平均值，n为旋转姿态修正因子；Among them, i=4, 5, 6 are the number of rotation data in the data set, P the current attitude data set of the autonomous underwater vehicle, P i is the value of the i-th data in the current attitude data set of the autonomous underwater vehicle, Q The attitude data set of the autonomous underwater vehicle, Q i is the value of the i-th data in the attitude data set of the autonomous underwater vehicle, λ is the Lagrangian multiplier, generally the value is 0.4-0.6, and T is matrix transpose notation, In the current attitude data set of the autonomous underwater vehicle, the angle value α of the current horizontal rotation of the autonomous underwater vehicle, the angle value β of the current rotation of the autonomous underwater vehicle around the longitudinal direction, and the current angle of the vertical rotation of the autonomous underwater vehicle the mean value of the value γ, Set the attitude data set for the autonomous underwater vehicle to set the angle value θ of the horizontal rotation of the autonomous underwater vehicle, the angle value φ of the vertical rotation of the autonomous underwater vehicle, and the vertical rotation angle value of the autonomous underwater vehicle. Angle value to rotate The average value of , n is the rotation attitude correction factor;
(2)姿态传感器将平移姿态修正因子m和旋转姿态修正因子n通过综合加权计算得到4个姿态修正子因子，分别为和其中ω为修正权值系数，一般取值为0.2～0.4，4个姿态修正子因子通过无线通讯传给(前、后、左、右)4个垂向的槽道螺旋桨推进器的4个作动器，4个姿态修正子因子分别与4个垂向的槽道螺旋桨推进器的推力呈线性关系，所以4个作动器接收到姿态修正子因子后发生动作，改变4个垂向的槽道螺旋桨推进器的推力，从而调整自主水下航行器当前姿态，使其回到竖直航态；(2) The attitude sensor calculates the translation attitude correction factor m and the rotation attitude correction factor n through comprehensive weighted calculation to obtain four attitude correction sub-factors, which are respectively and Among them, ω is the correction weight coefficient, the general value is 0.2-0.4, and the four attitude correction sub-factors are transmitted to (front, rear, left, right) four vertical channel propeller propellers through wireless communication. The 4 attitude correction sub-factors are linearly related to the thrust of the propeller propeller in the 4 vertical slots, so the 4 actuators take action after receiving the attitude correction sub-factors, changing the 4 vertical slots The thrust of the propeller propeller, thereby adjusting the current attitude of the autonomous underwater vehicle, so that it returns to the vertical navigation state;
过程四、自主水下航行器航行至指定区域后借助遥控潜水器(ROV)通过浸没式回收装置回到水面母船：Process 4. After navigating to the designated area, the autonomous underwater vehicle returns to the surface mother ship through the submerged recovery device with the help of a remotely operated vehicle (ROV):
水面母船发出水声返回信号来对自主水下航行器进行引导，自主水下航行器通过海底地震检波模块的三分量加速度检波器检测出水声返回信号的波形频段，然后计算出与水面母船之间的马氏距离，2个纵向槽道螺旋桨推进器根据马氏距离开始工作，使得自主水下航行器航行至浸没式回收装置前方的检索范围内，遥控潜水器(ROV)在水面母船工作人员的操作下将自主水下航行器逐个推入浸没式回收装置，然后将含有自主水下航行器的浸没式回收装置从水中提升至水面母船的甲板上。The surface mother ship sends out underwater acoustic return signals to guide the autonomous underwater vehicle. The autonomous underwater vehicle detects the waveform frequency band of the underwater acoustic return signal through the three-component acceleration detector of the seabed seismic detection module, and then calculates the distance between the underwater vehicle and the surface mother ship. The Mahalanobis distance, the two longitudinal slot propellers start working according to the Mahalanobis distance, so that the autonomous underwater vehicle can sail to the retrieval range in front of the submerged recovery device. Under operation, the autonomous underwater vehicle is pushed one by one into the submerged recovery device, and then the submerged recovery device containing the autonomous underwater vehicle is lifted from the water to the deck of the surface mother ship.
具体实施方式Detailed ways
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合实施例，对本发明进行详细的说明。应当说明的是，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明，能实现同样功能的产品属于等同替换和改进，均包含在本发明的保护范围之内。具体方法如下：In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be described in detail below in conjunction with the embodiments. It should be noted that the specific embodiments described here are only used to explain the present invention, and are not intended to limit the present invention. Products that can achieve the same function are equivalent replacements and improvements, and are included in the protection scope of the present invention. The specific method is as follows:
实施例：本发明为一种自主水下航行器的回收方法，该方法分为四个过程，分别为自主水下航行器结构设定、自主水下航行器抵抗海床土壤的吸附力起飞、自主水下航行器自主调节航态上浮和自主水下航行器航行至指定区域后借助遥控潜水器(ROV)通过浸没式回收装置回到水面母船。Embodiment: The present invention is a recovery method of an autonomous underwater vehicle. The method is divided into four processes, which are respectively setting the structure of the autonomous underwater vehicle, taking off the autonomous underwater vehicle against the adsorption force of the seabed soil, The autonomous underwater vehicle automatically adjusts its navigation state and floats up, and after the autonomous underwater vehicle sails to the designated area, it returns to the surface mother ship through the submerged recovery device with the help of a remotely operated vehicle (ROV).
首先，对自主水下航行器进行结构设定，自主水下航行器包括耐压壳体、海底地震检波模块和多自由度推进模块。First, the structure of the autonomous underwater vehicle is set. The autonomous underwater vehicle includes a pressure-resistant shell, a seabed seismic detection module and a multi-degree-of-freedom propulsion module.
耐压壳体由10MPa模具耐压板构成，该材料具有优良的抗弯强度与加工性能，可冲压加工成各种形状而不分层。The pressure shell is composed of 10MPa mold pressure plate, which has excellent bending strength and processing performance, and can be stamped into various shapes without delamination.
海底地震检波模块包括三分量加速度检波器、水听器和姿态传感器，三分量加速度检波器采用AD310模块DC-440M对数检波器，该检波器为基于渐进压缩技术的400MHz完整单芯片解调对数放大器，在频率最高为100MHz时可提供95dB和90dB的动态范围，能够精准地检测出水声返回信号的波形频段，它封装于耐压壳体中，并与耐压壳体刚性固连，提高了三分量加速度检波器与海底的耦合性；水听器固定于自主水下航行器的凹槽中与海水直接接触，从而确保水听器的声学耦合性；姿态传感器采用BWT901CL六轴姿态传感器，动态测角精度能达到0.05度，六轴无漂移现象，含有4路多功能扩展结构，并且集成高精度卡尔曼滤波姿态融合算法，能够计算出姿态修正因子，进而传至螺旋桨推进器的作动器上，修正自主水下航行器的航态。The submarine seismic detection module includes a three-component acceleration detector, a hydrophone and an attitude sensor. The three-component acceleration detector adopts the AD310 module DC-440M logarithmic detector, which is a 400MHz complete single-chip demodulation pair based on progressive compression technology. The digital amplifier can provide dynamic ranges of 95dB and 90dB when the frequency is up to 100MHz, and can accurately detect the waveform frequency band of the underwater acoustic return signal. It is packaged in a pressure-resistant shell and rigidly connected with the pressure-resistant shell to improve The coupling between the three-component acceleration detector and the seabed is ensured; the hydrophone is fixed in the groove of the autonomous underwater vehicle and directly contacts the seawater, thereby ensuring the acoustic coupling of the hydrophone; the attitude sensor adopts the BWT901CL six-axis attitude sensor, The accuracy of dynamic angle measurement can reach 0.05 degrees, the six-axis has no drift phenomenon, contains 4-way multi-functional expansion structure, and integrates high-precision Kalman filter attitude fusion algorithm, which can calculate the attitude correction factor and then transmit it to the action of the propeller propeller On the vehicle, correct the navigation state of the autonomous underwater vehicle.
多自由度推进模块包括4个垂向的槽道螺旋桨推进器、4个作动器和2个纵向的槽道螺旋桨推进器，4个垂向的槽道螺旋桨推进器布置于自主水下航行器的四周(按矩形四个顶点排布)，提供正反双向的推力用以保持自主水下航行器运行的稳定性，必要时可改变自主水下航行器的运动姿态；4个作动器分别安装在4个垂向的槽道螺旋桨推进器上，用以在自主水下航行器改变运动姿态时产生动作控制4个垂向的槽道螺旋桨推进器；2个纵向的槽道螺旋桨推进器布置于自主水下航行器的两侧内部，提供纵向的推力用以推动自主水下航行器前进，也可通过螺旋桨推进器的差速旋转提供转向力矩，推动自主水下航行器转向The multi-degree-of-freedom propulsion module includes 4 vertical slotted propellers, 4 actuators and 2 longitudinal slotted propellers, and the 4 vertical slotted propellers are arranged on the autonomous underwater vehicle The surrounding area (arranged according to the four vertices of the rectangle) provides positive and negative bidirectional thrust to maintain the stability of the autonomous underwater vehicle, and can change the motion attitude of the autonomous underwater vehicle if necessary; the four actuators are respectively Installed on 4 vertical slotted propellers, used to control the 4 vertical slotted propellers when the autonomous underwater vehicle changes its motion attitude; 2 longitudinal slotted propellers are arranged Inside the two sides of the autonomous underwater vehicle, provide longitudinal thrust to push the autonomous underwater vehicle forward, and also provide steering torque through the differential rotation of the propeller propeller to push the autonomous underwater vehicle to turn
然后自主水下航行器通过搭载的海底地震检波模块的水听器接收水面母船发出的水声返回信号后，2个纵向槽道螺旋桨推进器反向转动，产生的扭转力矩松动附着在自主水下航行器周围的海床土壤；同时，4个垂向的槽道螺旋桨推进器工作产生垂向推力，使自主水下航行器从海床上起飞。Then, after the autonomous underwater vehicle receives the underwater acoustic return signal from the surface mother ship through the hydrophone of the equipped submarine seismic detection module, the propeller propellers of the two longitudinal slots rotate in reverse, and the torsional moment generated is loosely attached to the autonomous underwater vehicle. The seabed soil around the vehicle; at the same time, the four vertical slotted propellers work to generate vertical thrust, allowing the autonomous underwater vehicle to take off from the seabed.
紧接着，4个垂向的槽道螺旋桨推进器工作，使自主水下航行器改变为竖直航态，即一种低阻力航行姿态，自主水下航行器在2个纵向的槽道螺旋桨推进器推力的作用下克服重力上浮；同时，海底地震检波模块的姿态传感器检测自主水下航行器的当前姿态，当自主水下航行器受到海流等外力影响偏离竖直状态时，通过4个垂向的槽道推进器的短促微调将自主水下航行器修正到竖直航态，具体修正航态方法如下：Immediately afterwards, the four vertical slotted propellers work to change the autonomous underwater vehicle into a vertical navigation state, that is, a low-resistance navigation attitude. The autonomous underwater vehicle is propelled by the two vertical slotted propellers. Under the action of the thrust of the vehicle, it overcomes the gravity and floats up; at the same time, the attitude sensor of the seabed seismic detection module detects the current attitude of the autonomous underwater vehicle. The short-term fine-tuning of the channel propeller will correct the autonomous underwater vehicle to the vertical state, and the specific method of correcting the state is as follows:
(1)海底地震检波模块的姿态传感器检测自主水下航行器的当前姿态，得到自主水下航行器当前姿态数据集，令自主水下航行器当前姿态数据集为P＝{x,y,z,α,β,γ}，其中x为自主水下航行器当前横向坐标值，y为自主水下航行器当前纵向坐标值，z为自主水下航行器当前垂向坐标值，α为自主水下航行器当前绕横向旋转的角度值，β为自主水下航行器当前绕纵向旋转的角度值，γ为自主水下航行器当前绕垂向旋转的角度值，自主水下航行器当前姿态数据集中的坐标值与角度值都是以地球为参考系，自主水下航行器当前姿态数据集与自身内置的自主水下航行器设定姿态数据集进行数值比较，令自主水下航行器设定姿态数据集为其中a为自主水下航行器设定横向坐标值，b为自主水下航行器设定纵向坐标值，c为自主水下航行器设定垂向坐标值，θ为自主水下航行器设定绕横向旋转的角度值，φ为自主水下航行器设定绕纵向旋转的角度值，为自主水下航行器设定绕垂向旋转的角度值，自主水下航行器设定姿态数据集中的坐标值与角度值也都是以地球为参考系，从而得出平移姿态修正因子和旋转姿态修正因子，分别用于修正自主水下航行器航态的平移偏差和旋转偏差，平移姿态修正因子的计算公式如下：(1) The attitude sensor of the submarine seismic detection module detects the current attitude of the autonomous underwater vehicle, and obtains the current attitude data set of the autonomous underwater vehicle, so that the current attitude data set of the autonomous underwater vehicle is P={x,y,z ,α,β,γ}, where x is the current horizontal coordinate value of the autonomous underwater vehicle, y is the current longitudinal coordinate value of the autonomous underwater vehicle, z is the current vertical coordinate value of the autonomous underwater vehicle, and α is the The angle value of the current horizontal rotation of the underwater vehicle, β is the current angle value of the vertical rotation of the autonomous underwater vehicle, γ is the current angle value of the vertical rotation of the autonomous underwater vehicle, the current attitude data of the autonomous underwater vehicle The concentrated coordinate values and angle values are based on the earth as the reference system, and the current attitude data set of the autonomous underwater vehicle is numerically compared with the built-in autonomous underwater vehicle set attitude data set, so that the autonomous underwater vehicle set The pose dataset is Among them, a is the horizontal coordinate value set by the autonomous underwater vehicle, b is the longitudinal coordinate value set by the autonomous underwater vehicle, c is the vertical coordinate value set by the autonomous underwater vehicle, and θ is the set value of the autonomous underwater vehicle The angle value of the horizontal rotation, φ is the angle value of the autonomous underwater vehicle setting around the vertical rotation, Set the angle value of the vertical rotation for the autonomous underwater vehicle, and the coordinate values and angle values in the attitude data set of the autonomous underwater vehicle are also based on the earth as the reference system, so as to obtain the translation attitude correction factor and the rotation The attitude correction factor is used to correct the translation deviation and rotation deviation of the autonomous underwater vehicle state respectively. The calculation formula of the translation attitude correction factor is as follows:
其中，i＝1，2，3为数据集内平移数据的个数，P为当前姿态数据集，Pi为自主水下航行器当前姿态数据集中第i个数据的值，Q为设定姿态数据集，Qi为自主水下航行器设定姿态数据集中第i个数据的值，λ为拉格朗日乘子，一般取值为0.4～0.6，T为矩阵转置符号，为自主水下航行器当前姿态数据集中自主水下航行器当前横向坐标值x、自主水下航行器当前纵向坐标值y和自主水下航行器当前垂向坐标值z的平均值，为自主水下航行器设定姿态数据集中自主水下航行器设定横向坐标值a、自主水下航行器设定纵向坐标值b和自主水下航行器设定垂向坐标值c的平均值，m为平移姿态修正因子；Among them, i=1, 2, 3 are the number of translation data in the data set, P is the current attitude data set, P i is the value of the i-th data in the current attitude data set of the autonomous underwater vehicle, and Q is the set attitude Data set, Q i is the value of the i-th data in the autonomous underwater vehicle set attitude data set, λ is the Lagrangian multiplier, generally the value is 0.4-0.6, T is the matrix transposition symbol, is the average value of the current lateral coordinate value x of the autonomous underwater vehicle, the current longitudinal coordinate value y of the autonomous underwater vehicle and the current vertical coordinate value z of the autonomous underwater vehicle in the current attitude data set of the autonomous underwater vehicle, Set the attitude data set for the autonomous underwater vehicle to set the average of the horizontal coordinate value a of the autonomous underwater vehicle, the longitudinal coordinate value b of the autonomous underwater vehicle, and the vertical coordinate value c of the autonomous underwater vehicle , m is the translation attitude correction factor;
旋转姿态修正因子的计算公式如下：The calculation formula of the rotation attitude correction factor is as follows:
其中，i＝4，5，6为数据集内旋转数据的个数，P为当前姿态数据集，Pi为自主水下航行器当前姿态数据集中第i个数据的值，Q为设定姿态数据集，Qi为自主水下航行器设定姿态数据集中第i个数据的值，λ为拉格朗日乘子，一般取值为0.4～0.6，T为矩阵转置符号，为自主水下航行器当前姿态数据集中自主水下航行器当前绕横向旋转的角度值α、自主水下航行器当前绕纵向旋转的角度值β和自主水下航行器当前绕垂向旋转的角度值γ的平均值，为自主水下航行器设定姿态数据集中自主水下航行器设定绕横向旋转的角度值θ、自主水下航行器设定绕纵向旋转的角度值φ和自主水下航行器设定绕垂向旋转的角度值的平均值，n为旋转姿态修正因子；Among them, i=4, 5, 6 are the number of rotation data in the data set, P is the current attitude data set, Pi is the value of the i-th data in the current attitude data set of the autonomous underwater vehicle, and Q is the set attitude data set, Qi is the value of the i-th data in the attitude data set of the autonomous underwater vehicle, λ is the Lagrangian multiplier, generally the value is 0.4-0.6, T is the matrix transposition symbol, In the current attitude data set of the autonomous underwater vehicle, the angle value α of the current horizontal rotation of the autonomous underwater vehicle, the angle value β of the current rotation of the autonomous underwater vehicle around the longitudinal direction, and the current angle of the vertical rotation of the autonomous underwater vehicle the mean value of the value γ, Set the attitude data set for the autonomous underwater vehicle to set the angle value θ of the horizontal rotation of the autonomous underwater vehicle, the angle value φ of the vertical rotation of the autonomous underwater vehicle, and the vertical rotation angle value of the autonomous underwater vehicle. Angle value to rotate The average value of , n is the rotation attitude correction factor;
(2)姿态传感器将平移姿态修正因子m和旋转姿态修正因子n通过综合加权计算得到4个姿态修正子因子，分别为和其中ω为修正权值系数，一般取值为0.2～0.4，4个姿态修正子因子通过无线通讯传给(前、后、左、右)4个垂向的槽道螺旋桨推进器的4个作动器，4个姿态修正子因子分别与4个垂向的槽道螺旋桨推进器的推力呈线性关系，所以4个作动器接收到姿态修正子因子后发生动作，改变4个垂向的槽道螺旋桨推进器的推力，从而调整自主水下航行器当前姿态，使其回到竖直航态；(2) The attitude sensor calculates the translation attitude correction factor m and the rotation attitude correction factor n through comprehensive weighted calculation to obtain four attitude correction sub-factors, which are respectively and Among them, ω is the correction weight coefficient, the general value is 0.2-0.4, and the four attitude correction sub-factors are transmitted to (front, rear, left, right) four vertical channel propeller propellers through wireless communication. The 4 attitude correction sub-factors are linearly related to the thrust of the propeller propeller in the 4 vertical slots, so the 4 actuators take action after receiving the attitude correction sub-factors, changing the 4 vertical slots The thrust of the propeller propeller, thereby adjusting the current attitude of the autonomous underwater vehicle, so that it returns to the vertical navigation state;
最后，水面母船发出水声返回信号来对自主水下航行器进行引导，自主水下航行器通过海底地震检波模块的三分量加速度检波器检测出水声返回信号的波形频段，然后计算出与水面母船之间的马氏距离，2个纵向槽道螺旋桨推进器根据马氏距离开始工作，使得自主水下航行器航行至浸没式回收装置前方的检索范围内，遥控潜水器(ROV)在水面母船工作人员的操作下将自主水下航行器逐个推入浸没式回收装置，然后将含有自主水下航行器的浸没式回收装置从水中提升至水面母船的甲板上。Finally, the surface mother ship sends out the underwater acoustic return signal to guide the autonomous underwater vehicle. The autonomous underwater vehicle detects the waveform frequency band of the underwater acoustic return signal through the three-component acceleration detector of the seabed seismic detection module, and then calculates the frequency band of the underwater acoustic return signal. The Mahalanobis distance between the two longitudinal slot propellers starts to work according to the Mahalanobis distance, so that the autonomous underwater vehicle sails to the retrieval range in front of the submerged recovery device, and the remotely operated vehicle (ROV) works on the surface mother ship Under the operation of personnel, the autonomous underwater vehicle is pushed into the submerged recovery device one by one, and then the submerged recovery device containing the autonomous underwater vehicle is lifted from the water to the deck of the surface mother ship.
本发明的有益成果在于：自主水下航行器通过海底地震检波模块和多自由度推进模块的联合控制，实现自主控制航向。并且，自主水下航行器在接收到水面母船的水声返回信号后，能够自主起飞，并航行至水面母船的检索范围内，最后借助遥控潜水器(ROV)通过浸没式回收装置回到水面母船。该方法具备作业范围广，环境适应能力强，运动模式多样的优点，在回收过程中既可以自主控制运行航向，又可以自动检测出水面母船位置从而通过浸没式回收装置回到水面母船，因此该项目的探索研究对于海洋技术的进一步发展具有重要意义。The beneficial results of the present invention are that: the autonomous underwater vehicle realizes the autonomous control of the course through the joint control of the seabed seismic detection module and the multi-degree-of-freedom propulsion module. Moreover, after receiving the underwater acoustic return signal from the surface mother ship, the autonomous underwater vehicle can take off autonomously, sail to the retrieval range of the surface mother ship, and finally return to the surface mother ship through the submerged recovery device with the help of a remotely operated vehicle (ROV) . This method has the advantages of a wide range of operations, strong environmental adaptability, and various movement modes. During the recovery process, it can not only control the running course independently, but also automatically detect the position of the surface mother ship and return to the surface mother ship through the submerged recovery device. Therefore, the method The exploration and research of the project is of great significance to the further development of marine technology.
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| CN107168312A (en) * | 2017-05-17 | 2017-09-15 | 哈尔滨工程大学 | A kind of space tracking tracking and controlling method of compensation UUV kinematics and dynamic disturbance |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109319071A (en) * | 2018-10-29 | 2019-02-12 | 广州文冲船厂有限责任公司 | A kind of recycling of unmanned boat submarine navigation device lays method |
| CN109375646A (en) * | 2018-11-14 | 2019-02-22 | 江苏科技大学 | Autonomous Navigation Method for AUV Docking and Recovery Based on FMSRUPF Algorithm |
| CN110539864A (en) * | 2019-09-17 | 2019-12-06 | 哈尔滨工程大学 | A kind of anti-soil adsorption submarine flight node aircraft and working method |
| CN118151669A (en) * | 2024-05-11 | 2024-06-07 | 青岛哈尔滨工程大学创新发展中心 | Dual-power autonomous recovery method of near-bottom operation aircraft |
| CN119847217A (en) * | 2025-01-09 | 2025-04-18 | 湘潭大学 | Power positioning device for ocean cable local arbitrary attitude control |
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