CN108680170A - AUV based on electromagnetic wave attenuation principle returns depressed place navigation system and method - Google Patents
AUV based on electromagnetic wave attenuation principle returns depressed place navigation system and method Download PDFInfo
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- CN108680170A CN108680170A CN201810640210.5A CN201810640210A CN108680170A CN 108680170 A CN108680170 A CN 108680170A CN 201810640210 A CN201810640210 A CN 201810640210A CN 108680170 A CN108680170 A CN 108680170A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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Abstract
The invention discloses a kind of AUV based on electromagnetic wave attenuation principle to return depressed place navigation system, including：Electromagnetic wave receiving module, is mounted on AUV, receives the electromagnetic wave signal of radio frequency sensor transmitting, and is transferred to electromagnetic wave signal analysis module；Electromagnetic signal analysis module, is mounted on AUV, electromagnetic wave signal is converted from analog into digital signal, and be transferred to industrial personal computer；Industrial personal computer calculates the intensity of electromagnetic wave signal according to electromagnetic wave digital signal, and depressed place navigation is carried out back to AUV according to preset air navigation aid；Underwater wireless sensor network is arranged in the waters AUV Hui Wu, including the radio frequency sensor that several tranmitting frequencies are different.The invention also discloses return the method that depressed place navigation system carries out back depressed place navigation based on the AUV.The AUV of the present invention, which returns depressed place navigation system, can realize the high-precision navigation of a small range, while not influenced by water quality, ambient noise etc..
Description
Technical field
The present invention relates to submarine navigation device recycling docking technique fields more particularly to a kind of based on electromagnetic wave attenuation principle
AUV returns depressed place navigation system and method.
Background technology
Autonomous Underwater Vehicle (AUV) is the powerful that the mankind explore ocean, but the cruising ability of AUV is limited, needs
Carry out recycling charging in time.In order to reduce cost, it is desirable to this charging processes directly to carry out under water, rather than with mother
Ship is recycled to it to carry out on the bank.
The Chinese patent literature of Publication No. CN102320362A discloses a kind of seabed docking facilities, for recycling AUV
It charges.In order to which AUV can be docked smoothly with seabed base station, it is necessary to accurate navigation algorithm.
AUV returns the key technology during depressed place airmanships are back docked and refute.Since electromagnetic wave can rapidly decline in the seawater
Subtract, navigator fix can not be carried out in seabed using GPS.In ocean, currently used air navigation aid has inertial navigation, acoustics to lead
Boat, vision guided navigation etc..Inertial navigation inevitably will appear accumulated error, and vision guided navigation can not then make in muddy waters
With.Therefore in ocean, mainly acoustic positioning system is relied on to carry out navigator fix, such as ultra-short baseline (USBL), short baseline
(SBL) and Long baselines (LBL) etc..But acoustic navigation also has certain limitation, it is such as larger by Environmental Noise Influence, such as
Reflection interference etc. of the sound wave on surrounding objects.
The Chinese patent literature of Publication No. CN104457754A discloses a kind of carrying out latent device positioning using Long baselines
Navigation algorithm, however be to need to carry out the cloth of baseline in the region of latent device navigation in advance using the premise that Long baselines are positioned
It puts, increases the difficulty and cost of realization.SBL compares LBL difficulty with the use of USBL and although decreases, but both are positioned
The cost of system is still high, it is difficult to it promotes and applies, it is therefore desirable to a kind of navigation and positioning accuracy is high, it is at low cost, and be suitable for
The navigation locating method of AUV and seabed base station.
Electromagnetic wave be by the concussion particle wave of same phase and mutually perpendicular electric field and magnetic field derivative transmitting in space, be with
The electromagnetic field that the form of fluctuation is propagated has duality principle.Frequency is the key property of electromagnetic wave.In the seawater, electromagnetic wave
Intensity can gradually decay with the increase of propagation distance, i.e., electromagnetic wave is with distance exponentially attenuation law.
Invention content
The present invention provides a kind of AUV based on electromagnetic wave attenuation principle to return depressed place navigation system and method, the air navigation aid
The shortcomings that overcoming common air navigation aid is not in cumulative errors, is not easy to be influenced by AUV ambient enviroments, can be muddy
Muddy water works normally in domain.
The present invention provides following technical solutions：
A kind of AUV based on electromagnetic wave attenuation principle times depressed place navigation system, including：
Electromagnetic wave receiving module, is mounted on AUV, receives the electromagnetic wave signal of radio frequency sensor transmitting, and transmits
Give electromagnetic signal analysis module；
Electromagnetic signal analysis module, is mounted on AUV, and electromagnetic wave signal is converted from analog into digital signal, and
It is transferred to industrial personal computer；
Industrial personal computer calculates the intensity of electromagnetic wave signal according to electromagnetic wave digital signal, according to preset air navigation aid to AUV
Carry out back depressed place navigation；
Underwater wireless sensor network is arranged in the waters AUV Hui Wu, including the less radio-frequency biography that several tranmitting frequencies are different
Sensor；The arrangement principle of radio frequency sensor is：Any position in the tracks AUV Hui Wu, with LmaxIn the range of radius
At least there are four radio frequency sensors；LmaxWhen can receive electromagnetic wave signal for electromagnetic wave receiving module, passed away from less radio-frequency
The maximum distance of sensor.
It is used to measure yaw angle, the pitching of AUV equipped with attitude transducer, the attitude transducer on the AUV
Angle and roll angle.
It is to carry out back depressed place navigation according to AUV that the AUV of the present invention, which returns depressed place navigation system with electromagnetic wave attenuation principle, will not be gone out
Existing cumulative errors, are not easy to be influenced by AUV ambient enviroments, can be worked normally in muddy waters, overcome common navigation
The shortcomings that method.
Preferably, the underwater wireless sensor network includes：
Several radio frequency sensors, electromagnetic signals, and tranmitting frequency is different；
Sealing device, for sealing radio frequency sensor；
Radio frequency sensor is fixed on specific position by movable supporting frame；
Submerged cable powers for radio frequency sensor and acquires signal；
Monitoring device, monitors the working condition of underwater wireless sensor network, if breaking down, sends error information.
The invention also discloses a kind of AUV based on electromagnetic wave attenuation principle to return depressed place air navigation aid, includes the following steps：
(1) at the k moment, the electromagnetic wave signal of m radio frequency sensor transmitting is received, and calculates each electromagnetic wave signal
Intensity；m≥4；
(2) using the spatial position coordinate of AUV as state variable, in conjunction with the state equation that AUV is moved, spreading kalman is utilized
Spatial position coordinate current filtering estimation AUV；
(3) according to spatial position coordinate current AUV, the navigation posture of AUV is adjusted, realizes and depressed place navigation is returned to AUV.
The underwater attenuation model of electromagnetic wave can be expressed by following equation：
rssi=-20log10Ri-20Riαilog10e+Γi,
Wherein, rssiIndicate the electromagnetic wave letter for i-th of radio frequency sensor transmitting that electromagnetic wave receiving module receives
Number intensity, RiShow electromagnetic wave receiving module away from the distance between i-th of radio frequency sensor, αi, ΓiIt is corrected parameter, needs
Before radio frequency sensor is laid experimental calibration is carried out in the waters Hui Wu.(x, y, z) indicates the spatial position coordinate of AUV,
(xi, yi, zi) indicate i-th of radio frequency sensor spatial position coordinate.
It, can be according to the electromagnetism received since the electromagnetic wave signal frequency that different radio frequency sensors emits is different
The frequency of wave signal determines the radio frequency sensor for sending out the electromagnetic wave signal, since the position of radio frequency sensor is sat
Mark is it is known that the relative position relation between AUV and radio frequency sensor can be determined according to above-mentioned formula.
In step (1), if certain moment m ＜ 4, etc. the update of electromagnetic wave signal quantity to be received, until meeting m >=4.
In step (1), the k moment is remembered, the spatial position coordinate of AUV is Xk=(xk, yk, zk)T；I-th of less radio-frequency sensing
The spatial position coordinate of device is (xi, yi, zi)；The observation for the electromagnetic wave signal that AUV is receivedThe m radio frequency sensor transmitting that respectively AUV is received
The intensity of electromagnetic wave signal.
In step (2), if the motion state equation of AUV is：Xk=f (Xk-1)+W (k), wherein W (k) expression process noises,
Process noise covariance matrix is Qk；
Observational equation is：
Wherein
Indicate distance of k moment AUV away from i-th of radio frequency sensor, αi, ΓiIt is corrected parameter, vi(k) it is i-th of less radio-frequency
The observation noise of sensor,Indicate rsskObservation noise, the observation noise covariance matrix of V (k) is Rk。
Estimate AUV in the spatial position at k moment using Extended Kalman filterIncluding：
(2-1) predicts the spatial position of k moment AUV
(2-2) predicts the mean square error P at k momentk/k-1：Wherein, state shifts square
Battle array
(2-3) calculates filtering gain Kk：Wherein Jacobian matrix
(2-4) estimates the spatial position of k moment AUV
(2-5) mean square error updates：
By above-mentioned steps, each moment AUV can be obtained and go back to the spatial position during depressed placeAbove-mentioned EKF is calculated
Method, it is real-time, AUV can the sensing data that receives of online processing, to realize positioning in real time.
Preferably, in step (3), according to the current spatial position coordinates of AUV, in conjunction with yaw angle current AUV, pitch angle
And roll angle, the navigation posture of AUV is adjusted, realizes and depressed place navigation is returned to AUV.
In step (3), yaw angle current AUV, pitch angle and roll angle are obtained by the attitude transducer that AUV is carried.
Compared with prior art, beneficial effects of the present invention are：
The AUV based on electromagnetic wave attenuation principle of the present invention returns depressed place navigation system and method, and innovative devises one
Navigation system that underwater electromagnetic intensity of wave can be measured and that realization AUV is positioned in turn.The system cost is low, and stability is good, and
It is pollution-free to marine environment, it lays flexibly.Meanwhile the AUV disclosed by the invention based on electromagnetic wave attenuation principle goes back to depressed place navigation side
Method can realize that a small range returns the high-precision navigation in depressed place stage, while not influenced by water quality, ambient noise etc..
Description of the drawings
Fig. 1 is the structural schematic diagram that the AUV based on electromagnetic wave attenuation principle returns depressed place navigation system；
Fig. 2 is the schematic diagram that the AUV based on electromagnetic wave attenuation principle returns depressed place air navigation aid；
Fig. 3 is the flow chart that the AUV based on electromagnetic wave attenuation principle returns depressed place air navigation aid.
Specific implementation mode
Present invention is further described in detail with reference to the accompanying drawings and examples, it should be pointed out that reality as described below
It applies example to be intended to be convenient for the understanding of the present invention, and does not play any restriction effect to it.
As shown in Figure 1, it includes being mounted in AUV (autonomous underwater boats that the AUV based on electromagnetic wave attenuation principle, which returns depressed place navigation system,
Row device) on electromagnetic wave receiving module, electromagnetic signal analysis module and industrial personal computer, and be laid in AUV return dockland domain it is underwater
Wireless sensor network.
Electromagnetic wave receiving module is connect by SMA connecting lines with electromagnetic signal analysis module, and electromagnetic signal analysis module is logical
USB interface is crossed to connect with the industrial personal computer inside AUV.
Electromagnetic wave receiving module is made of reception antenna, sealed rubber pipe, connector and fixed mechanism.Reception antenna is for connecing
The electromagnetic wave signal of wireless sensor transmitting is received, and electromagnetic wave signal is passed into electromagnetic signal analysis module；Sealed rubber pipe packet
It is rolled in outside antenna, plays sealing function；Antenna and sebific duct are connect by connector with fixed mechanism；Fixed mechanism is mounted on AUV's
Head.
AUV is upper equipped with attitude transducer, for measuring the yaw angle of AUV, pitch angle and roll angle.
Electromagnetic signal analysis module is mainly used for electromagnetic signal being converted to digital signal from analog signal, and is transferred to
Industrial personal computer inside AUV, industrial personal computer calculates the intensity of the electromagnetic wave signal received, according to the intensity of electromagnetic wave signal and combination
Yaw angle, pitch angle and the roll angle of AUV carries out back depressed place navigation to AUV.
Underwater wireless sensor network is arranged in go back to dockland domain of aircraft, is filled by multiple radio frequency sensors, sealing
It sets, movable supporting frame, submerged cable and monitoring device are constituted.Multiple radio frequency sensors are arranged on different transmitting frequencies
Rate, while emitting the electromagnetic wave signal of different frequency；Sealing device is sealed radio frequency sensor, it is ensured that less radio-frequency
Sensor can work normally under water；Radio frequency sensor is reasonably flexibly arranged in the waters Hui Wu by movable supporting frame
At different location, as the beacon for realizing AUV times depressed place navigator fixs；Submerged cable is used for as radio frequency sensor power supply, letter
Number acquisition etc.；Monitoring device is used to detect whether underwater wireless sensor network works normally, and reports an error in time if finding failure,
Management easy to repair.
The arrangement principle of radio frequency sensor is：Under the premise of not interfering AUV to go back to depressed place, in appointing for the tracks AUV Hui Wu
Meaning position, with LmaxFor at least there are four radio frequency sensors in the range of radius；LmaxIt can be connect for electromagnetic wave receiving module
When receiving electromagnetic wave signal, the maximum distance away from radio frequency sensor.The working frequency of each radio frequency sensor is respectively not
It is identical.
The AUV that depressed place navigation system is returned based on above-mentioned AUV returns depressed place air navigation aid, includes the following steps：
N number of radio frequency sensor that can emit electromagnetic wave is arranged in the waters AUV Hui Wu by step 1), lays principle
It is：If the maximum distance away from radio frequency sensor is L when electromagnetic wave receiving module can receive electromagnetic signalmax.It is not interfering
Under the premise of AUV goes back to depressed place, radio frequency sensor is uniformly laid as possible, is ensured near any position of the tracks AUV Hui Wu
At least there are four distances to be less than LmaxRadio frequency sensor.The working frequency of this N number of radio frequency sensor is set gradually
For f1, f2.., fN, power is disposed as identical.
For step 2) AUV during going back to depressed place, electromagnetic wave receiving module receives the electromagnetic wave of m neighbouring sensor emission
Signal converts thereof into I/Q digital signals after being transferred to electromagnetic signal analysis module, then be input to AUV industrial personal computer carry out after
Continuous processing calculates the power density spectrum for receiving signal to obtain the intensity of electromagnetic wave signal by Fourier Transform Technique.If
The working frequency for setting this m sensor is followed successively by as fi, fi+1..., fi+m-1, correspondingly, the electromagnetic wave signal that AUV is detected
Intensity is followed successively by RSSi, RSSi+1..., RSSi+m-1.Assuming that m=6, AUV times depressed place schematic diagrames are as shown in Figure 2.Wherein, 1-6 is indicated
Fixed placement is arranged in the radio frequency sensor in the waters Hui Wu in different operating frequency.RSS1 indicates the electromagnetic wave on AUV
The intensity for the electromagnetic wave that the radio frequency sensor 1 that receiving module receives emits.At this point, AUV can obtain around it 6 it is wireless
The intensity of the electromagnetic wave of radio frequency sensor transmitting.
Since electromagnetic wave receiving module can receive the electromagnetic wave letter of a radio frequency sensor transmittings of neighbouring m (m >=4)
Number, it can then obtain m observation.If for various reasons, being unsatisfactory for m >=4, algorithm can wait for the update of RSS, until
Just start to execute when meeting to calculate in next step.
Step 3) estimates the position of AUV using Extended Kalman filter (EKF).
According to the underwater attenuation principle of electromagnetic wave, there is formula：
rssi=-20log10Ri-20Riαilog10e+Γi,
Wherein, rssiIndicate the electromagnetic wave letter for i-th of radio frequency sensor transmitting that electromagnetic wave receiving module receives
Number intensity, RiShow electromagnetic wave receiving module away from the distance between i-th of radio frequency sensor, αi, ΓiIt is corrected parameter, needs
Before radio frequency sensor is laid experimental calibration is carried out in the waters Hui Wu.(x, y, z) indicates the spatial position coordinate of AUV,
(xi, yi, zi) indicate i-th of radio frequency sensor spatial position coordinate.
Using above formula as an observational equation, spatial position coordinate X=(x, y, z) is chosenTAs state variable, in conjunction with
The state equation of AUV movements, the spatial position coordinate of AUV can be solved using EKF.Specific algorithm is as follows：
By step 2), at the k moment, the electromagnetic intensity for the m radio frequency sensor transmitting that AUV is received is：Remember that the observation at k moment is：
The spatial position of this m sensor is：(xi, yi, zi), (xi+1, yi+1, zi+1) .., (xi+m-1, yi+m-1, zi+m-1),
The position of note k moment AUV is：Xk=(xk, yk, zk)T。
If the motion state equation of AUV is：Xk=f (Xk-1)+W (k), wherein W (k) expression process noises, process noise side
Poor battle array is Qk。
Observational equation is：
Wherein
Indicate distance of k moment AUV away from i-th of wireless sensor, vi
(k) be single sensor observation noise,Indicate rsskObservation noise, the observation noise association side of V (k)
Poor matrix is Rk。
Estimate AUV in the position at k moment using EKFThe step of it is as follows：
1. one-step prediction：
2. one-step prediction mean square error：Wherein, state-transition matrix
3. filtering gain：Wherein, Jacobian matrix
4. state estimation：
5. estimating mean square error update：
By above-mentioned steps, each moment AUV can be obtained and go back to the spatial position during depressed placeAbove-mentioned EKF is calculated
Method, it is real-time, AUV can the sensing data that receives of online processing, to realize positioning in real time.Its algorithm flow chart
As shown in Fig. 3.
Step 4) can learn the pitch angle of AUV, yaw angle and roll angle using the attitude transducer carried on AUV, then
In conjunction with the spatial position coordinate of AUV, the control system of AUV can adjust the propeller and rudder of AUV, make AUV towards seabed base station
Position moves, and realizes back that depressed place is navigated.
Technical scheme of the present invention and advantageous effect is described in detail in embodiment described above, it should be understood that
Above is only a specific embodiment of the present invention, it is not intended to restrict the invention, it is all to be done in the spirit of the present invention
Any modification, supplementary, and equivalent replacement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of AUV based on electromagnetic wave attenuation principle returns depressed place navigation system, which is characterized in that including：
Electromagnetic wave receiving module, is mounted on AUV, receives the electromagnetic wave signal of radio frequency sensor transmitting, and is transferred to electricity
Magnetostatic wave signal analysis module；
Electromagnetic signal analysis module, is mounted on AUV, electromagnetic wave signal is converted from analog into digital signal, and transmit
To industrial personal computer；
Industrial personal computer calculates the intensity of electromagnetic wave signal according to electromagnetic wave digital signal, is carried out to AUV according to preset air navigation aid
Return depressed place navigation；
Underwater wireless sensor network is arranged in the waters AUV Hui Wu, including the less radio-frequency sensing that several tranmitting frequencies are different
Device；The arrangement principle of radio frequency sensor is：Any position in the tracks AUV Hui Wu, with LmaxFor in the range of radius extremely
It is few that there are four radio frequency sensors；LmaxWhen can receive electromagnetic wave signal for electromagnetic wave receiving module, sensed away from less radio-frequency
The maximum distance of device.
2. the AUV according to claim 1 based on electromagnetic wave attenuation principle returns depressed place navigation system, which is characterized in that described
Underwater wireless sensor network include：
Several radio frequency sensors, electromagnetic signals, and tranmitting frequency is different；
Sealing device, for sealing radio frequency sensor；
Radio frequency sensor is fixed on specific position by movable supporting frame；
Submerged cable powers for radio frequency sensor and acquires signal；
Monitoring device, monitors the working condition of underwater wireless sensor network, if breaking down, sends error information.
3. the AUV according to claim 1 or 2 based on electromagnetic wave attenuation principle returns depressed place navigation system, which is characterized in that institute
It is used to measure yaw angle, pitch angle and the roll angle of AUV equipped with attitude transducer, the attitude transducer on the AUV stated.
4. a kind of AUV based on electromagnetic wave attenuation principle returns depressed place air navigation aid, which is characterized in that include the following steps：
(1) at the k moment, the electromagnetic wave signal of m radio frequency sensor transmitting is received, and calculates the strong of each electromagnetic wave signal
Degree；
m≥4；
(2) using the spatial position coordinate of AUV as state variable, in conjunction with the state equation that AUV is moved, Extended Kalman filter is utilized
Estimate the current spatial position coordinates of AUV；
(3) according to spatial position coordinate current AUV, the navigation posture of AUV is adjusted, realizes and depressed place navigation is returned to AUV.
5. the AUV according to claim 4 based on electromagnetic wave attenuation principle returns depressed place air navigation aid, which is characterized in that if certain
Moment m ＜ 4, the then update of electromagnetic wave signal quantity to be received such as, until meeting m >=4.
6. the AUV according to claim 4 based on electromagnetic wave attenuation principle returns depressed place air navigation aid, which is characterized in that step (1)
In, remember the k moment, the spatial position coordinate of AUV is Xk=(xk, yk, zk)T；The spatial position coordinate of i-th of radio frequency sensor is
(xi, yi, zi)；The observation for the electromagnetic wave signal that AUV is received Respectively
For the intensity of the electromagnetic wave signal of the AUV m radio frequency sensor transmittings received.
7. the AUV according to claim 6 based on electromagnetic wave attenuation principle returns depressed place air navigation aid, which is characterized in that step
(2) in, if the motion state equation of AUV is：Xk=f (Xk-1)+W (k), wherein W (k) expression process noises, process noise association side
Poor matrix is Qk；
Observational equation is：
Wherein Indicate distance of k moment AUV away from i-th of radio frequency sensor, αi, Γi
It is corrected parameter, vi(k) be i-th of radio frequency sensor observation noise,Indicate rsskObservation
The observation noise covariance matrix of noise, V (k) is Rk。
8. the AUV according to claim 7 based on electromagnetic wave attenuation principle returns depressed place air navigation aid, which is characterized in that utilize
Extended Kalman filter estimates AUV in the spatial position at k momentIncluding：
(2-1) predicts the spatial position of k moment AUV
(2-2) predicts the mean square error P at k momentk/k-1：Wherein, state-transition matrix
(2-3) calculates filtering gain Kk：Wherein Jacobian matrix
(2-4) estimates the spatial position of k moment AUV
(2-5) mean square error updates：
9. the AUV according to claim 4 based on electromagnetic wave attenuation principle returns depressed place air navigation aids, in step (3), according to
Spatial position coordinate current AUV adjusts the navigation posture of AUV in conjunction with yaw angle current AUV, pitch angle and roll angle, real
Depressed place navigation now is returned to AUV.
10. the AUV according to claim 9 based on electromagnetic wave attenuation principle returns depressed place air navigation aid, yaw current AUV
Angle, pitch angle and roll angle are obtained by the attitude transducer that AUV is carried.
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| CN111982098B (en) * | 2019-05-21 | 2023-12-29 | 中国科学院沈阳自动化研究所 | Simultaneous positioning method for two moving AUVs |
| CN110661541A (en) * | 2019-09-06 | 2020-01-07 | 大连理工大学 | Underwater robot positioning evaluation system based on machine learning |
| CN110661541B (en) * | 2019-09-06 | 2021-03-26 | 大连理工大学 | Underwater robot positioning evaluation system based on machine learning |
| CN111982117A (en) * | 2020-08-17 | 2020-11-24 | 电子科技大学 | AUV optical guiding and direction finding method based on deep learning |
| CN111982117B (en) * | 2020-08-17 | 2022-05-10 | 电子科技大学 | AUV optical guiding and direction finding method based on deep learning |
| CN112034735A (en) * | 2020-08-31 | 2020-12-04 | 浙江大学 | Simulation experiment platform for multi-AUV underwater cooperative operation |
| CN113900062A (en) * | 2021-12-09 | 2022-01-07 | 浙江大学 | AUV underwater recovery electromagnetic guiding device |
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