CN108731671A - A kind of UUV approaches the passive location device and its localization method being resident for a long time in seabed - Google Patents
A kind of UUV approaches the passive location device and its localization method being resident for a long time in seabed Download PDFInfo
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- CN108731671A CN108731671A CN201810519509.5A CN201810519509A CN108731671A CN 108731671 A CN108731671 A CN 108731671A CN 201810519509 A CN201810519509 A CN 201810519509A CN 108731671 A CN108731671 A CN 108731671A
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- uuv
- cable
- side tension
- tension cords
- seabed
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Classifications
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
Abstract
The invention discloses a kind of UUV to approach the passive location device and its localization method being resident for a long time in seabed, belongs to autonomous underwater vehicle field.Passive location device is made of hydraulic connecting rod mechanism, two sets of tensioning cable systems.When UUV is during navigation, side tension cords close inside UUV；When UUV is needed when approaching progress extended stationary periods in the waters of seabed, two sets of tracker holders stretch out inside UUV, and control and cast anchor.When UUV deviates original position, go out UUV actual shifts position using middle part side tension cords system-computed, and by compass institute measuring angle, obtains the bow of UUV to angular variation.When needing to return to original position and continuing navigation, control UUV is moved to initial position, control anchor, and tensioning cable system is closed inside UUV, realizes that UUV sets sail.The present invention can make UUV keep UUV positioning accuracies and itself concealment using passive location when approaching progress extended stationary periods in the waters of seabed, avoid the positioning Divergent Phenomenon of active location.
Description
Technical field
The invention belongs to autonomous underwater vehicle fields, and in particular to a kind of UUV approaches the passive location dress being resident for a long time in seabed
It sets and its localization method.
Background technology
Autonomous underwater vehicle (UUV) is needed when executing the tasks such as underwater investigation, seabed be latent close on the certain point of seabed
Extended stationary periods are carried out, realize highly concealed type and the extremely low latent operation of energy consumption.In order to realize that UUV is easy to be handling in navigation,
UUV is often designed to that buoyancy is equal to its own gravity.It in this way when UUV is stopped under water, will be influenced, be deviateed by ocean current
Given position.Therefore, a kind of underwater latent task that can carry out long-term, low-power consumption underwater positioning device for UUV is designed
It is very necessary.
For traditional INS/DVL Combinated navigation methods, drifted about to inertial navigation system using Doppler anemometer
The correction of error is widely used in the location navigation of underwater vehicle.When UUV carries out stopping for a long time in small range waters,
Due to the influence of the disturbance of body, Doppler range rate measuring system, which will produce larger measurement noise, to be influenced, and is accumulated at any time, inertia
Navigation system will produce accumulated error so that INS/DVL integrated navigation systems generate larger position error, and are in for a long time
Body electricity can be lost in operating status, while active location is also unfavorable for the concealment of latent device.As it can be seen that INS/DVL integrated navigations
System for UUV underwater behavior latent for a long time and be not suitable for.In this regard, term underwater operation and electricity can be met by finding one kind
Amount is lost low positioning system and is particularly important.
Invention content
The purpose of the present invention is：When extended stationary periods underwater for UUV, being vulnerable to ocean current influences and deviates asking for given position
Topic proposes a kind of underwater side tension cords positioning device of UUV and method, and can realize Underwater Navigation steady in a long-term.
The object of the present invention is achieved like this：
A kind of UUV approaches the passive location device being resident for a long time in seabed, including hydraulic-driven arm, UUV autonomous underwater vehicles and
It is tensioned locking device；It is characterized in that：The hydraulic-driven arm is arranged on UUV autonomous underwater vehicles, the tensioning locking device
It is connected with hydraulic-driven arm；The tensioning locking device includes that tensioning lock, rope position tracker, sensor omnidirectional mechanism and angle pass
Sensor.
A kind of UUV approaches the passive location method being resident for a long time in seabed, which is characterized in that includes the following steps：
Step 1, by wing bulkhead in unlatching, controls hydraulic arm by side tension cords device when UUV runs to specified dwell point
It releases, releasing anchor by control panel is measured by INS/DVL integrated navigation systems after anchor bottoms out and record UUV at this time
Position, as datum mark；
Step 2 set middle part tensioning cable system anchor position asThe side tension cords installation error angle at middle part is αTWS；
Side tension cords mooring point is relative to the offset of ship datum markWhen being influenced by ocean current, UUV deviates initial position,
WhereinTo be tensioned the excursion matrix of lock system anchor position and mooring point；Then obtain：
Wherein, θxm1For the measurement angle in the plane of side tension cords x-axis containing sensor；θym1For side tension cords y-axis containing sensor
Measurement angle in plane；hTW1For the vertical range between side tension cords mooring point and anchor；And show that then UUV is relative to first by compass
Beginning parking place bow is to angle ψ；
Step 3 is shown that the measurement angle in the plane of x-axis containing sensor and y-axis is θ by middle part side tension cordsxmWith θym, neglecting
Slightly in the case of the influence of cable stretched wire effect and ocean current, then the offset square of the positions UUV is obtained by traditional side tension cords calculation formula
Battle array be：
The influence that step 4 is conducted oneself with dignity in view of ocean current and cable, the resistance to water-flow acted on rope and cable weight are made
At the difference at actual shifts angle and measurement deviation angle, in order to calculate the difference of deviation angle that is actual and measuring, if uniform fluid flow
It acts on entire cable, if the dead weight of its unit length is q, takes infinitesimal, both ends to distinguish being total under tension T and T+dT cable
Same-action, then to infinitesimal establish an equation for：
Wherein, radial load FτWith tangential force FπRespectively：
Wherein
cosβv=V-1(V·uη)
ρ is density of sea water；CnFor cable coefficient of elongation；Cτ1、Cτ2、Cπ1、Cπ2For empirical；
If error is：
Wherein,Deviation angle is surveyed by side tension cords mooring point；Δ is the actual shifts of UUV；
The cable row differential equation is obtained：
Wherein, y is the lateral displacement of string；Z is distances of the UUV away from seabed；T is the time；T is the tension of string；W is single in water
The weight of position chord length；Q is the quality of unit chord length；F is the lateral load of unit length；
If uniform fluid flow acts on entire cable, and flow velocity square successively decreasing with the depth of water, then the transverse direction that cable is subject to
Load is expressed as：
Wherein, ΔyFor the actual shifts of UUV transverse directions；ε be UUV laterally it is apparent offset and actual shifts difference；q0For UUV master
The flow load that body is subject to；hTWFor side tension cords length；
First item represents the stretched wire effect of rope in formula, and Section 2 and Section 3 description act on the flow effect on rope；Together
Reason obtains offset distance Δ along longitudinal directionxTo get the offset to anchor position in practice relative to tensioning lock mooring pointThen UUV
Actual shifts matrix be：
Step 5 withdraws anchor during cable is withdrawn, by controlling winch, and withdraws tensioning lock machine by hydraulic device
Structure closes bulkhead to keep its streamline shape.
Compared with the prior art, the advantages of the present invention are as follows：During UUV progress term underwaters are latent, by being located at
Two sets of tensioning lock systems in the middle part of body carry out underwater passive location, and UUV actual shifts coordinates are obtained using middle part side tension cords, and
Angle information extrapolates UUV bows to deviation angle in conjunction with obtained by compass.Since accumulated error is not present in used angular transducer
Influence, error is only dependent upon device system error and installation error.It does not accumulate at any time, avoids active location such as
The positioning transmitting case that INS/DVL integrated navigations generate.Due to using passive location, the concealment of UUV ensure that, which can
So that UUV is done long-term stop in a certain small range region in seabed approaching, and when needing to enable, provides accurate present bit
It sets, ensure that the completion of underwater long-term latent task.
Description of the drawings
Fig. 1 is flow chart of the present invention；
Fig. 2 is general overview figure of the present invention；
Fig. 3 is present invention tensioning lock system in releasing status diagram；
Fig. 4 is the primary element of present invention tensioning cable system；
Fig. 5 is desired tension cable system measure geometry figure of the present invention；
Fig. 6 is side tension cords System planes geometric figure of the present invention；
Fig. 7, which is ocean current of the present invention and Suo Chong, influences side tension cords static system performance；
Fig. 8 is that the present invention carries out force analysis schematic diagram to tensioning lock infinitesimal.
Specific implementation mode
The new concept of the present invention is subtracted below in conjunction with the accompanying drawings and shakes drag reduction ship and makes following detailed description：
Passive location device is made of hydraulic connecting rod mechanism, two sets of tensioning cable systems.When UUV is during navigation, tensioning
Rope closes inside UUV；When UUV is needed when approaching progress extended stationary periods in the waters of seabed, two sets of tracker holders are inside UUV
It stretches out, and controls and cast anchor.When UUV deviates original position, go out UUV actual shifts position using middle part side tension cords system-computed,
And by compass institute measuring angle, obtain the bow of UUV to angular variation.When needing to return to original position and continuing navigation, control UUV is moved
Initial position, control anchor are moved, and tensioning cable system is closed inside UUV, realizes that UUV sets sail.The present invention can make UUV exist
It approaches and keeps UUV positioning accuracies and itself concealment using passive location when carrying out extended stationary periods in the waters of seabed, avoid
The positioning Divergent Phenomenon of active location.
In conjunction with Fig. 2 and Fig. 4, a kind of passive location device of seabeds UUV extended stationary periods of the invention is by being located in the middle part of body
Side tension cords device composition, and be connected with UUV inner walls by hydraulic-driven arm, be related to side tension cords, rope position tracker and sensor
Omnidirectional mechanism and angular transducer.Installation site should ensure that rope position tracker is located on UUV center lines.
(1) when UUV runs to specified dwell point, by wing bulkhead in unlatching, control hydraulic arm puts side tension cords device
Go out, such as Fig. 3, anchor is released by control panel and is measured and is recorded at this time by INS/DVL integrated navigation systems after anchor bottoms out
The positions UUV, as datum mark.
(2) such as Fig. 6, it is if middle part is tensioned cable system anchor positionThe side tension cords installation error angle at middle part is
αTWS；Side tension cords mooring point is relative to the offset of ship datum markIt is assumed that when being influenced by ocean current, UUV deviates just
Beginning position, whereinTo be tensioned the excursion matrix of lock system anchor position and mooring point.As shown in figure 5, then can be obtained
θxm1--- the measurement angle in the plane of side tension cords x-axis containing sensor
θym1--- the measurement angle in the plane of side tension cords y-axis containing sensor
hTW1--- the vertical range (m) between side tension cords mooring point and anchor
And from compass obtain then UUV relative to initial parking place bow to angle ψ.
(3) show that the measurement angle in the plane of x-axis containing sensor and y-axis is θ by middle part side tension cordsxmWith θym, ignoring rope
In the case of the influence of cable stretched wire effect and ocean current, then show that the excursion matrix of the positions UUV is by traditional side tension cords calculation formula
(4) influence that ocean current and cable are conducted oneself with dignity is considered, the resistance to water-flow acted on rope and cable weight cause
Actual shifts angles and the difference for measuring deviation angle, in order to calculate the difference of deviation angle that is actual and measuring, it is assumed that uniform fluid flow
It acts on entire cable, if the dead weight of its unit length is q, such as Fig. 8, takes infinitesimal, both ends to distinguish under tension T and T+ cable
The collective effect of dT, then to infinitesimal can establish an equation for
Wherein, radial load FτWith tangential force FπRespectively
Wherein
cosβv=V-1(V·uη) (10)
ρ --- density of sea water (kg/m3)
Cn--- cable coefficient of elongation
Cτ1、Cτ2、Cπ1、Cπ2--- empirical
If error is
--- the surveyed deviation angle of side tension cords mooring point
The actual shifts (m) of Δ --- UUV
The cable row differential equation can be obtained
The lateral displacement (m) of y --- string；
Distances (m) of z --- the UUV away from seabed；
T --- the time (s)；
The tension (N) of T --- string；
W --- the weight (N) of unit chord length in water；
The quality (kg) of q --- unit chord length；
The lateral load (N) of F --- unit length.
Assuming that uniform fluid flow acts on entire cable, and flow velocity square successively decreasing with the depth of water, then the cross that cable is subject to
It can be expressed as to load
Δy--- the actual shifts (m) of UUV transverse directions；
ε --- UUV laterally it is apparent offset and actual shifts difference (m)；
q0--- the flow load (N) that UUV main bodys are subject to；
hTW--- side tension cords length (m).
First item represents the stretched wire effect of rope in formula, and Section 2 and Section 3 description act on the flow effect on rope.Together
The available offset distance Δ along longitudinal direction of reasonx, you can obtain offset of the anchor position relative to tensioning lock mooring point in practiceThen
The actual shifts matrix of UUV is
(5) during cable is withdrawn, anchor is withdrawn by controlling winch, and tensioning latch mechanism is withdrawn by hydraulic device,
Bulkhead is closed to keep its streamline shape.
The above, the only specific implementation mode in the present invention, but scope of protection of the present invention is not limited thereto, appoints
What is familiar with the people of the technology within the technical scope disclosed by the invention, it will be appreciated that expects transforms or replaces, and should all cover
Within the protection domain of claims of the present invention.
Claims (2)
1. a kind of UUV approaches the passive location device being resident for a long time in seabed, including hydraulic-driven arm, UUV autonomous underwater vehicles and
Locking device；It is characterized in that：The hydraulic-driven arm is arranged on UUV autonomous underwater vehicles, the tensioning locking device and
Hydraulic-driven arm is connected；The tensioning locking device includes tensioning lock, rope position tracker, sensor omnidirectional mechanism and angle sensor
Device.
2. a kind of UUV approaches the passive location method being resident for a long time in seabed, which is characterized in that include the following steps：
Step 1 is when UUV runs to specified dwell point, and by wing bulkhead in unlatching, control hydraulic arm puts side tension cords device
Go out, releasing anchor by control panel is measured by INS/DVL integrated navigation systems after anchor bottoms out and record the positions UUV at this time
It sets, as datum mark；
Step 2 set middle part tensioning cable system anchor position asThe side tension cords installation error angle at middle part is αTWS；Tensioning
Rope mooring point is relative to the offset of ship datum markWhen being influenced by ocean current, UUV deviates initial position, whereinTo be tensioned the excursion matrix of lock system anchor position and mooring point；Then obtain：
Wherein, θxm1For the measurement angle in the plane of side tension cords x-axis containing sensor；θym1For the plane of side tension cords y-axis containing sensor
On measurement angle；hTW1For the vertical range between side tension cords mooring point and anchor；And obtained by compass, UUV is relative to initially stopping
Bow is set to angle ψ in berth；
Step 3 is shown that the measurement angle in the plane of x-axis containing sensor and y-axis is θ by middle part side tension cordsxmWith θym, ignoring cable
In the case of the influence of stretched wire effect and ocean current, then show that the excursion matrix of the positions UUV is by traditional side tension cords calculation formula：
The influence that step 4 is conducted oneself with dignity in view of ocean current and cable, the resistance to water-flow acted on rope and cable weight cause
Actual shifts angle and the difference for measuring deviation angle, in order to calculate the difference of deviation angle that is actual and measuring, if uniform fluid flow acts on
On entire cable, if the dead weight of its unit length is q, infinitesimal, both ends is taken to distinguish the common work of under tension T and T+dT cable
With, then to infinitesimal establish an equation for：
Wherein, radial load FτWith tangential force FπRespectively：
Wherein
cosβv=V-1(V·uη)
ρ is density of sea water；CnFor cable coefficient of elongation；Cτ1、Cτ2、Cπ1、Cπ2For empirical；
If error is：
Wherein,Deviation angle is surveyed by side tension cords mooring point；Δ is the actual shifts of UUV；
The cable row differential equation is obtained：
Wherein, y is the lateral displacement of string；Z is distances of the UUV away from seabed；T is the time；T is the tension of string；W is unit chord in water
Long weight；Q is the quality of unit chord length；F is the lateral load of unit length；
If uniform fluid flow acts on entire cable, and flow velocity square successively decreasing with the depth of water, then the lateral load that cable is subject to
It is expressed as：
Wherein, ΔyFor the actual shifts of UUV transverse directions；ε be UUV laterally it is apparent offset and actual shifts difference；q0For UUV main bodys by
The flow load arrived；hTWFor side tension cords length；
First item represents the stretched wire effect of rope in formula, and Section 2 and Section 3 description act on the flow effect on rope；Similarly
To offset distance Δ along longitudinal directionxTo get the offset to anchor position in practice relative to tensioning lock mooring pointThe then reality of UUV
Excursion matrix is：
Step 5 withdraws anchor during cable is withdrawn, by controlling winch, and withdraws tensioning latch mechanism by hydraulic device, closes
Bulkhead is closed to keep its streamline shape.
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| CN2018103403407 | 2018-04-17 | ||
| CN201810340340 | 2018-04-17 |
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| CN108731671A true CN108731671A (en) | 2018-11-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212655A (en) * | 2021-06-11 | 2021-08-06 | 西北工业大学 | Suction anchor device for unmanned underwater vehicle to reside on seabed and control method thereof |
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2018
- 2018-05-28 CN CN201810519509.5A patent/CN108731671A/en active Pending
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| US6600695B1 (en) * | 2002-08-19 | 2003-07-29 | The United States Of America As Represented By The Secretary Of The Navy | Method and apparatus for retrieving an unmanned underwater vehicle |
| CN101389976A (en) * | 2006-02-23 | 2009-03-18 | 海洋服务器技术有限公司 | System and method for determining the position of an underwater vehicle |
| CN105549602A (en) * | 2016-02-06 | 2016-05-04 | 哈尔滨工程大学 | UUV active bottom sitting method assisted by buoyancy balancing device |
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| CN113212655A (en) * | 2021-06-11 | 2021-08-06 | 西北工业大学 | Suction anchor device for unmanned underwater vehicle to reside on seabed and control method thereof |
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