CN108674616B - Recovery method of autonomous underwater vehicle - Google Patents
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- 238000011084 recovery Methods 0.000 title claims abstract description 29
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention relates to a recovery method of an autonomous underwater vehicle, wherein the autonomous underwater vehicle comprises a pressure-resistant shell, a seabed seismic wave detection module and a multi-degree-of-freedom propulsion module; the autonomous underwater vehicle resists the adsorption force of seabed soil to take off and float after receiving underwater acoustic return signals of the surface mother ship, autonomously adjusts the course through the cooperation of a seabed seismic wave detection module and a multi-degree-of-freedom propulsion module in the floating process, and finally returns to the surface mother ship through an immersed recovery device by means of a Remote Operated Vehicle (ROV) after sailing to a designated area; the method has the advantages of wide operation range, strong environment adaptability and various motion modes, can independently control the running course in the recovery process, and can automatically detect the position of the primary ship on the water surface so as to return to the primary ship on the water surface through the immersed recovery device, so that the exploration and research of the project have important significance for the further development of the ocean technology.
Description
Technical Field
The invention relates to a recovery method of an autonomous underwater vehicle in the technical field of oceans.
Background
The existing autonomous underwater vehicle has wide application in a plurality of fields such as military ocean technology, ocean science and technology investigation, submarine exploration, pipeline maintenance, submarine salvage and the like, so the development and the application of the autonomous underwater vehicle are important components of the research of the ocean technology in China, and the autonomous underwater vehicle has important theoretical research significance and definite application background for the exploration, the development and the utilization of the ocean.
The autonomous underwater vehicle usually has an energy source to work underwater, and the working time and the sailing distance of the autonomous underwater vehicle are limited, so that the recovery of the autonomous underwater vehicle is an important link in the service of the autonomous underwater vehicle. With the development of times, a large number of autonomous underwater vehicles are in service at sea or on the sea floor, so that new requirements are made on the recycling of the autonomous underwater vehicles. In order to better meet the requirements of actual production and living, the recovery method of the autonomous underwater vehicle becomes a key point and a hot point of research.
Disclosure of Invention
The invention relates to a recovery method of an autonomous underwater vehicle, which is divided into four processes, namely, the structure of the autonomous underwater vehicle is set, the autonomous underwater vehicle takes off by resisting the adsorption force of seabed soil, the autonomous underwater vehicle autonomously adjusts the navigation state to float upwards, and the autonomous underwater vehicle sails to a designated area and then returns to a mother ship on the water surface through an immersed recovery device by means of a Remote Operated Vehicle (ROV);
the method comprises the following steps of firstly, setting the structure of the autonomous underwater vehicle:
the autonomous underwater vehicle comprises a pressure-resistant shell, a seabed seismic wave detection module and a multi-degree-of-freedom propulsion module;
the pressure-resistant shell is made of high-density pressure-resistant materials and is a main body supporting part of the autonomous underwater vehicle;
the seabed seismic wave detection module comprises a three-component acceleration wave detector, a hydrophone and an attitude sensor, wherein the three-component acceleration wave detector is packaged in the pressure-resistant shell and is rigidly connected with the pressure-resistant shell, so that the coupling of the three-component acceleration wave detector and the seabed is improved; the hydrophone is fixed in a groove of the autonomous underwater vehicle and is in direct contact with seawater, so that the acoustic coupling of the hydrophone is ensured; the attitude sensor is packaged in the pressure-resistant shell and used for recording attitude information of the autonomous underwater vehicle, namely the coordinate position of the autonomous underwater vehicle relative to an earth reference system;
the multi-degree-of-freedom propulsion module comprises 4 vertical channel propeller thrusters, 4 actuators and 2 longitudinal channel propeller thrusters, wherein the 4 vertical channel propeller thrusters are arranged around the autonomous underwater vehicle according to the rule of four vertexes of a rectangle, and provide forward and reverse bidirectional thrust to keep the running stability of the autonomous underwater vehicle, and the motion posture of the autonomous underwater vehicle can be changed if necessary; the 4 actuators are respectively arranged on the 4 vertical channel propeller thrusters and used for generating actions to control the 4 vertical channel propeller thrusters when the autonomous underwater vehicle changes the motion posture; the 2 longitudinal channel propeller propellers are arranged inside two sides of the autonomous underwater vehicle and provide longitudinal thrust to push the autonomous underwater vehicle to advance, and steering torque can be provided through differential rotation of the 2 longitudinal channel propeller propellers to push the autonomous underwater vehicle to steer;
and in the second process, the autonomous underwater vehicle takes off by resisting the adsorption force of the seabed soil:
after the autonomous underwater vehicle receives an underwater sound return signal sent by a mother ship on the water surface through a hydrophone of a carried submarine seismic wave detection module, 2 longitudinal channel propeller propellers rotate reversely, and generated torsion moment is loosened and attached to seabed soil around the autonomous underwater vehicle; meanwhile, 4 vertical channel propeller propellers work to generate vertical thrust, so that the autonomous underwater vehicle takes off from the seabed;
and thirdly, autonomous underwater vehicle autonomous regulation navigation state floating:
4 vertical channel propeller propellers work to change the autonomous underwater vehicle into a vertical navigation state, namely a low-resistance navigation attitude, and the autonomous underwater vehicle overcomes the gravity to float upwards under the action of the thrust of 2 longitudinal channel propeller propellers; meanwhile, an attitude sensor of the ocean bottom seismic wave detection module detects the current attitude of the autonomous underwater vehicle, and when the autonomous underwater vehicle deviates from a vertical state under the influence of external forces such as ocean currents, the autonomous underwater vehicle is corrected to a vertical state through short-time fine adjustment of 4 vertical channel propellers, and the method for correcting the state specifically comprises the following steps:
(1) an attitude sensor of a seabed seismic demodulation module detects the current attitude of an autonomous underwater vehicle to obtain a current attitude data set of the autonomous underwater vehicle, and the current attitude data set of the autonomous underwater vehicle is P ═ x, y, z, α and gamma, wherein x is the current transverse 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, α is the current angle value of the autonomous underwater vehicle rotating around the transverse direction, β is the current angle value of the autonomous underwater vehicle rotating around the longitudinal direction, gamma is the current angle value of the autonomous underwater vehicle rotating around the vertical direction, the coordinate value and the angle value in the current attitude data set of the autonomous underwater vehicle are all based on the earth as a reference system, and the current attitude data set of the autonomous underwater vehicle and the attitude data set of the autonomous underwater vehicle built-in the current attitudeComparing numerical values, and enabling the autonomous underwater vehicle to set an attitude data set as
Wherein a sets a transverse coordinate value for the autonomous underwater vehicle, b sets a longitudinal coordinate value for the autonomous underwater vehicle, c sets a vertical coordinate value for the autonomous underwater vehicle, theta sets an angle value for the autonomous underwater vehicle to rotate around the transverse direction, phi sets an angle value for the autonomous underwater vehicle to rotate around the longitudinal direction,
setting an angle value rotating around the vertical direction for the autonomous underwater vehicle, wherein coordinate values and the angle values in the set attitude data set of the autonomous underwater vehicle are also based on the earth as a reference system, so as to obtain a translational attitude correction factor and a rotational attitude correction factor which are respectively used for correcting the translational deviation and the rotational deviation of the attitude of the autonomous underwater vehicle, and the calculation formula of the translational attitude correction factor is as follows:
wherein, i is 1, 2 and 3 are the number of the translation data in the data set, P is the current attitude data set of the autonomous underwater vehicleiSetting an attitude data set for the value of the ith data in the current attitude data set of the autonomous underwater vehicle Q, QiSetting the value of the ith data in the attitude data set for the autonomous underwater vehicle, wherein lambda is a Lagrange multiplier and generally takes the value of 0.4-0.6, T is a matrix transposition symbol,
the average value of the current transverse 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 P of the autonomous underwater vehicle,
pose setting for autonomous underwater vehicleSetting a transverse coordinate value a by the autonomous underwater vehicle, setting a longitudinal coordinate value b by the autonomous underwater vehicle and setting an average value of a vertical coordinate value c by the autonomous underwater vehicle in the state data set Q, wherein m is a translational attitude correction factor;
the calculation formula of the rotation attitude correction factor is as follows:
wherein, i is 4, 5 and 6 are the number of rotation data in the data set, P is the current attitude data set of the autonomous underwater vehicleiSetting an attitude data set for the value of the ith data in the current attitude data set of the autonomous underwater vehicle Q, QiSetting the value of the ith data in the attitude data set for the autonomous underwater vehicle, wherein lambda is a Lagrange multiplier and generally takes the value of 0.4-0.6, T is a matrix transposition symbol,
the average value of the current angle value α around the transverse rotation, the current angle value β around the longitudinal rotation and the current angle value gamma around the vertical rotation of the autonomous underwater vehicle in the current attitude data set P of the autonomous underwater vehicle,
setting an angle value theta around transverse rotation for the autonomous underwater vehicle in an attitude data set Q for the autonomous underwater vehicle, setting an angle value phi around longitudinal rotation for the autonomous underwater vehicle and setting an angle value around vertical rotation for the autonomous underwater vehicle
N is a rotation attitude correction factor;
(2) the attitude sensor obtains 4 attitude correction sub-factors by carrying out comprehensive weighting calculation on the translation attitude correction factor m and the rotation attitude correction factor n, wherein the attitude correction sub-factors are respectively
And
wherein omega is a correction weight coefficient and generally takes a value of 0.2-0.4, 4 attitude correction sub-factors are transmitted to 4 actuators (front, back, left and right) of 4 vertical channel propeller propellers through wireless communication, and the 4 attitude correction sub-factors are respectively in linear relation with the thrust of the 4 vertical channel propeller propellers, so that the 4 actuators act after receiving the attitude correction sub-factors to change the thrust of the 4 vertical channel propeller propellers, thereby adjusting the current attitude of the autonomous underwater vehicle and enabling the autonomous underwater vehicle to return to a vertical navigation state;
and fourthly, after the autonomous underwater vehicle sails to a designated area, the autonomous underwater vehicle returns to the surface mother ship through an immersed recovery device by means of a Remote Operated Vehicle (ROV):
the underwater vehicle sends out an underwater sound return signal to guide the underwater vehicle, the underwater vehicle detects the waveform frequency band of the underwater sound return signal through a three-component acceleration detector of a submarine seismic detection module, then the Mahalanobis distance between the underwater vehicle and the underwater vehicle is calculated, 2 longitudinal channel propeller propellers start to work according to the Mahalanobis distance, the underwater vehicle sails to a retrieval range in front of an immersed recovery device, a remote control submarine (ROV) pushes the underwater vehicle into the immersed recovery device one by one under the operation of staff of the underwater vehicle, and then the immersed recovery device containing the underwater vehicle is lifted to a deck of the underwater vehicle from water.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more apparent, the present invention is described in detail below with reference to the embodiments. It should be noted that the specific embodiments described herein are only for illustrating the present invention and are not to be construed as limiting the present invention, and products that can achieve the same functions are included in the scope of the present invention. The specific method comprises the following steps:
example (b): the invention relates to a recovery method of an autonomous underwater vehicle, which is divided into four processes, namely, the structure setting of the autonomous underwater vehicle, the takeoff of the autonomous underwater vehicle by resisting the adsorption force of seabed soil, the autonomous underwater vehicle automatically adjusting the navigation state floating and the navigation of the autonomous underwater vehicle to a designated area are respectively carried out, and then the autonomous underwater vehicle returns to a mother ship on the water surface through an immersed recovery device by means of a Remote Operated Vehicle (ROV).
Firstly, an autonomous underwater vehicle is structurally set, and the autonomous underwater vehicle comprises a pressure-resistant shell, a submarine seismic wave detection module and a multi-degree-of-freedom propulsion module.
The pressure-resistant casing is composed of a 10MPa die pressure-resistant plate, has excellent bending strength and processability, and can be punched and processed into various shapes without layering.
The ocean bottom seismic wave detection module comprises a three-component acceleration wave detector, a hydrophone and an attitude sensor, wherein the three-component acceleration wave detector adopts an AD310 module DC-440M logarithmic wave detector, is a 400MHz complete single-chip demodulation logarithmic amplifier based on a progressive compression technology, can provide a dynamic range of 95dB and 90dB when the frequency is up to 100MHz, can accurately detect a waveform frequency band of an underwater sound return signal, is packaged in a pressure-resistant shell and is rigidly connected with the pressure-resistant shell, and improves the coupling property of the three-component acceleration wave detector and the ocean bottom; the hydrophone is fixed in a groove of the autonomous underwater vehicle and is in direct contact with seawater, so that the acoustic coupling of the hydrophone is ensured; the posture sensor adopts a BWT901CL six-axis posture sensor, the dynamic angle measurement precision can reach 0.05 degree, six axes have no drift phenomenon, the posture sensor comprises a 4-path multifunctional extension structure and integrates a high-precision Kalman filtering posture fusion algorithm, and a posture correction factor can be calculated and then transmitted to an actuator of a propeller thruster to correct the navigation state of the autonomous underwater vehicle.
The multi-degree-of-freedom propulsion module comprises 4 vertical channel propeller thrusters, 4 actuators and 2 longitudinal channel propeller thrusters, wherein the 4 vertical channel propeller thrusters are arranged around the autonomous underwater vehicle (arranged according to four vertexes of a rectangle) to provide forward and reverse bidirectional thrust to keep the running stability of the autonomous underwater vehicle, and the motion attitude of the autonomous underwater vehicle can be changed if necessary; the 4 actuators are respectively arranged on the 4 vertical channel propeller thrusters and used for generating actions to control the 4 vertical channel propeller thrusters when the autonomous underwater vehicle changes the motion posture; 2 longitudinal channel propeller propellers are arranged inside two sides of the autonomous underwater vehicle and provide longitudinal thrust for pushing the autonomous underwater vehicle to advance, and also provide steering torque through differential rotation of the propeller propellers for pushing the autonomous underwater vehicle to steer
Then, after the autonomous underwater vehicle receives an underwater sound return signal sent by the mother ship on the water surface through a hydrophone of the carried submarine seismic wave detection module, 2 longitudinal channel propeller propellers rotate reversely, and the generated torsion moment loosens seabed soil attached to the periphery of the autonomous underwater vehicle; meanwhile, 4 vertical channel propeller propellers work to generate vertical thrust, so that the autonomous underwater vehicle takes off from the seabed.
Next, 4 vertical channel propeller propellers work to change the autonomous underwater vehicle into a vertical navigation state, namely a low-resistance navigation attitude, and the autonomous underwater vehicle overcomes the gravity to float upwards under the action of the thrust of 2 longitudinal channel propeller propellers; meanwhile, an attitude sensor of the ocean bottom seismic wave detection module detects the current attitude of the autonomous underwater vehicle, and when the autonomous underwater vehicle deviates from a vertical state under the influence of external forces such as ocean currents, the autonomous underwater vehicle is corrected to a vertical state through short-time fine adjustment of 4 vertical channel propellers, and the method for correcting the state specifically comprises the following steps:
(1) an attitude sensor of a seabed seismic demodulation module detects the current attitude of an autonomous underwater vehicle to obtain a current attitude data set of the autonomous underwater vehicle, and the current attitude data set of the autonomous underwater vehicle is P ═ x, y, z, α and gamma, wherein x is the current transverse 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, α is the current angle value of the autonomous underwater vehicle rotating around the transverse direction, β is the current angle value of the autonomous underwater vehicle rotating around the longitudinal direction, and gamma is the current angle value of the autonomous underwater vehicle rotating around the vertical direction, so that the autonomous underwater vehicle can automatically and quickly detect the current attitude of the autonomous underwater vehicleThe coordinate values and the angle values in the current attitude data set of the autonomous underwater vehicle are all based on the earth as a reference system, the current attitude data set of the autonomous underwater vehicle is compared with the attitude data set by the autonomous underwater vehicle, and the attitude data set by the autonomous underwater vehicle is made to be
Wherein a sets a transverse coordinate value for the autonomous underwater vehicle, b sets a longitudinal coordinate value for the autonomous underwater vehicle, c sets a vertical coordinate value for the autonomous underwater vehicle, theta sets an angle value for the autonomous underwater vehicle to rotate around the transverse direction, phi sets an angle value for the autonomous underwater vehicle to rotate around the longitudinal direction,
setting an angle value rotating around the vertical direction for the autonomous underwater vehicle, wherein coordinate values and the angle values in the set attitude data set of the autonomous underwater vehicle are also based on the earth as a reference system, so as to obtain a translational attitude correction factor and a rotational attitude correction factor which are respectively used for correcting the translational deviation and the rotational deviation of the attitude of the autonomous underwater vehicle, and the calculation formula of the translational attitude correction factor is as follows:
wherein, i is 1, 2, 3 is the number of the translation data in the data set, P is the current attitude data set, P isiThe value of the ith data in the current attitude data set of the autonomous underwater vehicle, Q is a set attitude data set, QiSetting the value of the ith data in the attitude data set for the autonomous underwater vehicle, wherein lambda is a Lagrange multiplier and generally takes the value of 0.4-0.6, T is a matrix transposition symbol,
the average value of the current transverse 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 P of the autonomous underwater vehicle,
setting an average value of a transverse coordinate value a, a longitudinal coordinate value b and a vertical coordinate value c of the autonomous underwater vehicle in an attitude data set Q for the autonomous underwater vehicle, wherein m is a translational attitude correction factor;
the calculation formula of the rotation attitude correction factor is as follows:
wherein i is 4, 5 and 6 are the number of rotation data in the data set, P is the current attitude data set, Pi is the value of the ith data in the current attitude data set of the autonomous underwater vehicle, Q is the set attitude data set, Qi is the value of the ith data in the set attitude data set of the autonomous underwater vehicle, lambda is a Lagrange multiplier, the general value is 0.4-0.6, T is a matrix transposition symbol,
the average value of the current angle value α around the transverse rotation, the current angle value β around the longitudinal rotation and the current angle value gamma around the vertical rotation of the autonomous underwater vehicle in the current attitude data set P of the autonomous underwater vehicle,
setting an angle value theta around transverse rotation for the autonomous underwater vehicle in an attitude data set Q, setting an angle value phi around longitudinal rotation for the autonomous underwater vehicle and setting an angle around vertical rotation for the autonomous underwater vehicle
The average value of the values, n is a rotation attitude correction factor;
(2) the attitude sensor obtains 4 attitude correction sub-factors by carrying out comprehensive weighting calculation on the translation attitude correction factor m and the rotation attitude correction factor n, and divides the attitude correction sub-factors intoIs otherwise provided with
And
wherein omega is a correction weight coefficient and generally takes a value of 0.2-0.4, 4 attitude correction sub-factors are transmitted to 4 actuators (front, back, left and right) of 4 vertical channel propeller propellers through wireless communication, and the 4 attitude correction sub-factors are respectively in linear relation with the thrust of the 4 vertical channel propeller propellers, so that the 4 actuators act after receiving the attitude correction sub-factors to change the thrust of the 4 vertical channel propeller propellers, thereby adjusting the current attitude of the autonomous underwater vehicle and enabling the autonomous underwater vehicle to return to a vertical navigation state;
and finally, the surface mother ship sends out an underwater sound return signal to guide the autonomous underwater vehicle, the autonomous underwater vehicle detects the waveform frequency band of the underwater sound return signal through a three-component acceleration detector of a submarine seismic detection module, then the mahalanobis distance between the autonomous underwater vehicle and the surface mother ship is calculated, 2 longitudinal channel propeller propellers start to work according to the mahalanobis distance, so that the autonomous underwater vehicle navigates to a retrieval range in front of the submerged recovery device, a remote control vehicle (ROV) pushes the autonomous underwater vehicle into the submerged recovery device one by one under the operation of staff of the surface mother ship, and then the submerged recovery device containing the autonomous underwater vehicle is lifted to the deck of the surface mother ship from water.
The beneficial results of the invention are as follows: the autonomous underwater vehicle realizes autonomous course control through the combined control of the ocean bottom seismic wave detection module and the multi-degree-of-freedom propulsion module. And the autonomous underwater vehicle can take off autonomously after receiving the underwater sound return signal of the surface mother ship, navigate to the retrieval range of the surface mother ship and finally return to the surface mother ship through the submerged recovery device by means of a Remote Operated Vehicle (ROV). The method has the advantages of wide operation range, strong environment adaptability and various motion modes, can independently control the running course in the recovery process, and can automatically detect the position of the primary ship on the water surface so as to return to the primary ship on the water surface through the immersed recovery device, so that the exploration and research of the project have important significance for the further development of the ocean technology.
Claims (1)
1. A recovery method of an autonomous underwater vehicle is characterized in that: the method comprises four processes, namely, setting the structure of the autonomous underwater vehicle, taking off the autonomous underwater vehicle by resisting the adsorption force of seabed soil, autonomously adjusting the navigation state of the autonomous underwater vehicle, floating the autonomous underwater vehicle, and returning the autonomous underwater vehicle to a mother ship on the water surface by virtue of a remote control submersible vehicle through an immersed recovery device after the autonomous underwater vehicle navigates to a designated area;
the first process comprises the following steps of setting the structure of the autonomous underwater vehicle:
the autonomous underwater vehicle comprises a pressure-resistant shell, a seabed seismic wave detection module and a multi-degree-of-freedom propulsion module;
the pressure-resistant shell is made of high-density pressure-resistant materials and is a main body supporting part of the autonomous underwater vehicle;
the ocean bottom seismic wave detection module comprises a three-component acceleration wave detector, a hydrophone and an attitude sensor, wherein the three-component acceleration wave detector is packaged in the pressure-resistant shell and is rigidly connected with the pressure-resistant shell, so that the coupling of the three-component acceleration wave detector and the ocean bottom is improved; the hydrophone is fixed in a groove of the autonomous underwater vehicle and is in direct contact with seawater, so that the acoustic coupling of the hydrophone is ensured; the attitude sensor is packaged in the pressure-resistant shell and used for recording attitude information of the autonomous underwater vehicle, namely the coordinate position of the autonomous underwater vehicle relative to an earth reference system;
the multi-degree-of-freedom propulsion module comprises 4 vertical channel propeller thrusters, 4 actuators and 2 longitudinal channel propeller thrusters, wherein the 4 vertical channel propeller thrusters are arranged around the autonomous underwater vehicle according to the rule of four vertexes of a rectangle to provide forward and reverse bidirectional thrust to keep the running stability of the autonomous underwater vehicle, and the motion posture of the autonomous underwater vehicle can be changed if necessary; the 4 actuators are respectively installed on the 4 vertical channel propeller propellers and used for generating actions to control the 4 vertical channel propeller propellers when the autonomous underwater vehicle changes the motion posture; the 2 longitudinal channel propeller propellers are arranged inside two sides of the autonomous underwater vehicle, provide longitudinal thrust for pushing the autonomous underwater vehicle to advance, and also provide steering torque through the differential rotation of the 2 longitudinal channel propeller propellers for pushing the autonomous underwater vehicle to steer;
and secondly, the autonomous underwater vehicle takes off by resisting the adsorption force of the seabed soil:
after the autonomous underwater vehicle receives an underwater sound return signal sent by the mother ship on the water surface through the hydrophone of the carried ocean bottom seismic wave detection module, the 2 longitudinal channel propeller propellers rotate reversely, and the generated torsion moment is loosened and attached to seabed soil around the autonomous underwater vehicle; meanwhile, the 4 vertical channel propeller propellers work to generate vertical thrust, so that the autonomous underwater vehicle takes off from the seabed;
and thirdly, autonomously adjusting the navigation state floating of the autonomous underwater vehicle:
the 4 vertical channel propeller propellers work to change the autonomous underwater vehicle into a vertical navigation state, namely a low-resistance navigation attitude, and the autonomous underwater vehicle overcomes the gravity to float upwards under the action of the thrust of the 2 longitudinal channel propeller propellers; meanwhile, the attitude sensor of the ocean bottom seismic wave detection module detects the current attitude of the autonomous underwater vehicle, and when the autonomous underwater vehicle deviates from a vertical state under the influence of external forces such as ocean currents, the autonomous underwater vehicle is corrected to a vertical navigation state through short-time fine adjustment of the 4 vertical channel propellers, and the method for correcting the navigation state specifically comprises the following steps:
(1) the attitude sensor of the ocean bottom seismic wave detection module detects the current attitude of the autonomous underwater vehicle to obtain a current attitude data set of the autonomous underwater vehicle, and the current attitude data set of the autonomous underwater vehicle is made to be P ═ x, y, z, αγ }, wherein x is a current transverse coordinate value of the autonomous underwater vehicle, y is a current longitudinal coordinate value of the autonomous underwater vehicle, z is a current vertical coordinate value of the autonomous underwater vehicle, α is an angle value of the autonomous underwater vehicle rotating transversely, β is an angle value of the autonomous underwater vehicle rotating longitudinally, γ is an angle value of the autonomous underwater vehicle rotating vertically, the coordinate value and the angle value in the current attitude data set of the autonomous underwater vehicle are both based on the earth as a reference system, and the current attitude data set of the autonomous underwater vehicle is compared with the built-in set attitude data set of the autonomous underwater vehicle numerically, so that the set attitude data set of the autonomous underwater vehicle is set as an attitude data set of the autonomous underwater vehicle
Wherein a sets a transverse coordinate value for the autonomous underwater vehicle, b sets a longitudinal coordinate value for the autonomous underwater vehicle, c sets a vertical coordinate value for the autonomous underwater vehicle, theta sets an angle value of rotation around the transverse direction for the autonomous underwater vehicle, phi sets an angle value of rotation around the longitudinal direction for the autonomous underwater vehicle,
setting an angle value rotating around a vertical direction for the autonomous underwater vehicle, wherein the coordinate value and the angle value in the set attitude data set of the autonomous underwater vehicle are both based on the earth as a reference system, so as to obtain a translational attitude correction factor and a rotational attitude correction factor which are respectively used for correcting the translational deviation and the rotational deviation of the navigation state of the autonomous underwater vehicle, and the calculation formula of the translational attitude correction factor is as follows:
wherein i is 1, 2 and 3 are the number of the translation data in the data set, P is the current attitude data set of the autonomous underwater vehicle, and P isiFor said autonomous underwater navigationSetting an attitude data set for the autonomous underwater vehicle for Q, a value of ith data in a current attitude data set of the vehicle, QiSetting the value of the ith data in the attitude data set for the autonomous underwater vehicle, wherein lambda is a Lagrange multiplier and takes the value of 0.4-0.6, T is a matrix transposition symbol,
the average value of the current transverse 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 P of the autonomous underwater vehicle,
setting an average value of a transverse coordinate value a, a longitudinal coordinate value b and a vertical coordinate value c for the autonomous underwater vehicle in an attitude data set Q for the autonomous underwater vehicle, wherein m is the translational attitude correction factor;
the calculation formula of the rotation posture correction factor is as follows:
wherein i is 4, 5 and 6 are the number of rotation data in the data set, P is the current attitude data set of the autonomous underwater vehicle, and P isiSetting an attitude data set for the autonomous underwater vehicle Q for the value of the ith data in the current attitude data set of the autonomous underwater vehicle QiSetting the value of the ith data in the attitude data set for the autonomous underwater vehicle, wherein lambda is a Lagrange multiplier and takes the value of 0.4-0.6, T is a matrix transposition symbol,
the current angle value α around the transverse rotation of the autonomous underwater vehicle in the current attitude data set P of the autonomous underwater vehicle and the autonomous underwater navigationThe average of the angular value β of the current longitudinal rotation of the autonomous underwater vehicle and the angular value y of the current vertical rotation of the autonomous underwater vehicle,
setting an angle value theta around transverse rotation for the autonomous underwater vehicle, an angle value phi around longitudinal rotation for the autonomous underwater vehicle and an angle value around vertical rotation for the autonomous underwater vehicle in an attitude data set Q for the autonomous underwater vehicle
N is the rotational attitude correction factor;
(2) the attitude sensor obtains 4 attitude correction sub-factors by carrying out comprehensive weighting calculation on the translation attitude correction factor m and the rotation attitude correction factor n, wherein the attitude correction sub-factors are respectively
And
wherein ω is a correction weight coefficient, and a value of ω is 0.2 to 0.4, the 4 attitude correction sub-factors are transmitted to the 4 actuators of the front, rear, left and right 4 vertical channel screw propellers through wireless communication, and the 4 attitude correction sub-factors are respectively in a linear relationship with thrust of the 4 vertical channel screw propellers, so that the 4 actuators act after receiving the attitude correction sub-factors to change the thrust of the 4 vertical channel screw propellers, thereby adjusting the current attitude of the autonomous underwater vehicle to return to the vertical navigation state;
and fourthly, after the autonomous underwater vehicle sails to a designated area, the autonomous underwater vehicle returns to the surface mother ship through an immersed recovery device by means of a remote control submersible:
the underwater acoustic return signal is sent by the mother ship on the water surface 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 ocean bottom seismic wave detection module, then the Mahalanobis distance between the autonomous underwater vehicle and the mother ship on the water surface is calculated, the 2 longitudinal channel propeller propellers start to work according to the Mahalanobis distance, so that the autonomous underwater vehicle sails to a retrieval range in front of the submerged recovery device, the remote control submersible pushes the autonomous underwater vehicle into the submerged recovery device one by one under the operation of a staff of the mother ship on the water surface, and then the submerged recovery device containing the autonomous underwater vehicle is lifted to the deck of the mother ship on the water surface from water.
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