CN110908393A - Underwater unmanned vehicle formation cooperation method based on detection and communication integration - Google Patents
Underwater unmanned vehicle formation cooperation method based on detection and communication integration Download PDFInfo
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Abstract
The invention discloses an underwater unmanned aircraft formation cooperative method based on sounding integration, a master aircraft detects the distance between each slave aircraft and the local area, sends a corresponding motion control instruction to the corresponding slave aircraft, enables each slave aircraft to move the local position according to the moving direction and the moving distance, specifically loads the motion control instruction generated according to the distance between the slave aircraft and the local area at the last moment on a radar signal through the master aircraft to form a sounding and communication integrated signal, utilizes the waveform diversity characteristic of an acoustic sensor array of the master aircraft, utilizes a transmitting beam forming technology to realize a main lobe for the sounding of the slave aircraft, and utilizes side lobes for directionally communicating the radar communication integrated waveform to the slave aircraft so as to issue a formation holding instruction to carry out formation adjustment while continuing to probe and the relative position of the slave aircraft, the formation of the underwater unmanned vehicle formation is effectively maintained in time, so that the flexibility of the cooperative operation of the corresponding formation is improved.
Description
Technical Field
The invention relates to the field of underwater wireless sensor networks, in particular to a formation cooperation method of an underwater unmanned aircraft based on detection and communication integration.
Background
The ocean contains abundant mineral products, biological resources and the like, and with the progress of scientific technology and the enhancement of the ocean development demand, the research of the underwater wireless sensor network receives more and more attention. The underwater vehicle carries the detection and communication equipment to form a mobile underwater wireless sensor network, so that the functions of collecting, determining and tracking various interested targets, monitoring a target area according to control information and the like can be realized. How to ensure that the aircraft formations cooperate to keep an original traveling route under the interference of the complex operating environment of the external space. In the traditional scheme, the problem of low flexibility of related underwater unmanned aircraft formation cooperative operation exists.
Disclosure of Invention
Aiming at the problems, the invention provides a formation cooperation method of an underwater unmanned aircraft based on detection and communication integration.
In order to realize the aim of the invention, the invention provides a formation cooperation method of an underwater unmanned aircraft based on detection and communication integration, which comprises the following steps:
s10, the master aircraft detects the respective distances from the slave aircraft to the local, generates a motion control instruction of each slave aircraft according to the respective distances from the slave aircraft to the local, and sends the motion control instruction to the corresponding slave aircraft;
and S20, each slave aircraft analyzes the corresponding motion control command, acquires the moving direction and the moving distance, and moves the local position according to the moving direction and the moving distance.
In one embodiment, generating motion control commands for the slave vehicle based on their respective distances from the local vehicle comprises:
if the distance from the slave vehicle to the local is within a preset distance range, generating a motion control instruction for keeping the current running state;
if the distance from the slave vehicle to the local is greater than or equal to the distance upper limit value of the distance range, the moving direction in the motion control instruction is the direction close to the master vehicle, and the moving distance is the preset relative moving distance;
and if the distance from the slave vehicle to the local is less than or equal to the lower limit value of the distance range, the moving direction in the motion control instruction is the direction far away from the master vehicle, and the moving distance is the preset relative moving distance.
As an example, the distance range is
Wherein R ismaxIs the maximum coverage of the beam emitted by the host vehicle.
As an example, the relative movement distance is
In one embodiment, the master aircraft detecting respective distances from the respective slave aircraft to the local, generating motion control commands for the slave aircraft based on the respective distances from the slave aircraft to the local, and sending the motion control commands to the respective slave aircraft comprises:
the main aircraft loads motion control instructions generated at the last moment according to the distances from the auxiliary aircraft to the local part to radar signals to form detection and communication integrated signals, the waveform diversity characteristic of an acoustic sensor array of the main aircraft is utilized, the emission beam forming technology is utilized to realize the detection of the main lobe for the auxiliary aircraft, and the side lobe is used for radar communication integrated waveforms for directional communication to the auxiliary aircraft.
In the underwater unmanned aircraft formation cooperative method based on the detection and communication integration, the main aircraft can detect the distance from each slave aircraft to the local area, generating a motion control instruction of each slave aircraft according to the distance from each slave aircraft to the local, sending the motion control instruction to the corresponding slave aircraft, enabling each slave aircraft to analyze the corresponding motion control instruction, acquiring a moving direction and a moving distance, moving the local position according to the moving direction and the moving distance, specifically, loading the motion control instruction generated at the last moment according to the distance from each slave aircraft to the local by the master aircraft on a radar signal, forming a detection and communication integrated signal, utilizing the waveform diversity characteristic of an acoustic sensor array of the master aircraft, utilizing a transmission beam forming technology to realize a main lobe for detection of the slave aircraft, and utilizing a side lobe for directional communication of the radar communication integrated waveform to the slave aircraft. The formation keeping instruction is issued to carry out formation adjustment while the relative position of the slave vehicle is continuously detected, so that the formation of the underwater unmanned vehicle formation can be effectively kept in time, and the flexibility of the cooperative operation of the underwater unmanned vehicle formation is improved.
Drawings
FIG. 1 is a flow chart of an embodiment of an underwater unmanned vehicle formation coordination method based on sounding integration;
FIG. 2 is a schematic diagram of an embodiment of formation of unmanned underwater vehicles;
FIG. 3 is a spatial beam diagram of an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a flowchart of an underwater unmanned vehicle formation coordination method based on probe integration according to an embodiment, and the method includes the following steps:
s10, the master aircraft detects the respective distances from the slave aircraft to the local, generates a motion control instruction of each slave aircraft according to the respective distances from the slave aircraft to the local, and sends the motion control instruction to the corresponding slave aircraft;
the main aircraft and the slave aircraft are respectively underwater unmanned aircraft carrying acoustic sensor arrays. The space beam can be formed by pre-coding signals transmitted by the acoustic sensors, wherein a main lobe of the beam is used for detecting unmanned vehicles in the adjacent area, and side lobes are used for the interaction of formation instructions and formation holding instructions among the underwater vehicles.
Specifically, the master aircraft performs the following process separately for each slave aircraft: the method comprises the steps of detecting the distance from a slave vehicle to the local, generating motion control instructions of the slave vehicle according to the distance from the slave vehicle to the local, and sending the motion control instructions to the slave vehicle in the form of spatial beams, so that the slave vehicle receives the motion control instructions, reads the moving direction and the moving distance from the motion control instructions and moves correspondingly.
And S20, each slave aircraft analyzes the corresponding motion control command, acquires the moving direction and the moving distance, and moves the local position according to the moving direction and the moving distance.
In one example, the formation of unmanned underwater vehicles comprises a main vehicle and a plurality of auxiliary vehicles, and the schematic diagram of the working environment of the formation of the unmanned underwater vehicles can be shown in fig. 2, and during the working process of the formation of the unmanned underwater vehicles, the main vehicle is responsible for interacting with the instructions of the surface ships and distributes the formation cooperative instructions to the auxiliary vehicles. The main lobe is used for discovering an adjacent aircraft, and the side lobes are used for interacting formation instructions and aircraft state information, namely, the functions of formation shape keeping and task coordination of the unmanned aircraft are realized by utilizing a sounding and communicating integration technology. Particularly, the master aircraft and the slave aircraft in the unmanned aircraft formation can realize the integrated function of detection and communication through the acoustic sensor arrays carried by the master aircraft and the slave aircraft. And the master aircraft can detect the position and the distance of each slave aircraft, and when the relative position between the master aircraft and the slave aircraft is abnormal, the master aircraft superposes a formation holding command on the spatial beam, namely the formation holding command is issued to perform formation adjustment while the relative position between the master aircraft and the slave aircraft is continuously detected.
In the underwater unmanned aircraft formation cooperative method based on the detection and communication integration, the main aircraft can detect the distance from each slave aircraft to the local area, generating motion control instructions of each slave aircraft according to the distance from each slave aircraft to the local area, sending the motion control instructions to the corresponding slave aircraft, enabling each slave aircraft to analyze the corresponding motion control instructions, acquiring a moving direction and a moving distance, moving the local position according to the moving direction and the moving distance, so as to improve the flexibility of the cooperative operation of the underwater unmanned vehicle formation, specifically, a main vehicle sends motion control instructions to each slave vehicle to realize the superposition of formation maintaining instructions on spatial beams, namely, the formation keeping instruction is issued to carry out formation adjustment while the relative position of the underwater unmanned vehicle is continuously detected and the relative position of the underwater unmanned vehicle is detected, so that the formation of the underwater unmanned vehicle can be effectively kept in time.
In one embodiment, generating motion control commands for the slave vehicle based on their respective distances from the local vehicle comprises:
if the distance from the slave vehicle to the local is within a preset distance range, generating a motion control instruction for keeping the current running state;
if the distance from the slave vehicle to the local is greater than or equal to the distance upper limit value of the distance range, the moving direction in the motion control instruction is the direction close to the master vehicle, and the moving distance is the preset relative moving distance;
and if the distance from the slave vehicle to the local is less than or equal to the lower limit value of the distance range, the moving direction in the motion control instruction is the direction far away from the master vehicle, and the moving distance is the preset relative moving distance.
The distance range can be set according to performance characteristics of the main aircraft, for example, the distance range can be set
Wherein R ismaxA distance upper limit value indicating a distance range,
a distance lower limit value of the distance range is indicated.
As an example, the distance range is
Wherein R ismaxIs the maximum coverage of the beam emitted by the host vehicle.
As an example, the relative movement distance is
Specifically, in the actual working process of formation of the underwater unmanned aircraft, the distance between the main aircraft and the slave aircraft is determined to be abnormal relative position when the distance between the main aircraft and the slave aircraft is too close or too far beyond a preset threshold range due to the influence of external factors such as ocean currents. The threshold range (i.e., distance range) is
RmaxThe maximum coverage area of the acoustic sensor beam in the main aircraft is when the relative position of the two is more than RmaxWhen the relative position of the unmanned aircraft formation underwater perception coverage range is smaller than that of the unmanned aircraft formation underwater perception coverage range
There is a greater probability of collision.
In this embodiment, the formation holding instruction of the formation of the unmanned aircraft is based on a virtual force algorithm, which may be expressed as: when the distance between the master aircraft and the slave aircraft is greater than a corresponding threshold (such as the upper limit value of the distance range), the virtual acting force between the master aircraft and the slave aircraft is gravity; when the distance is smaller than a corresponding threshold (such as a lower limit value of a distance range), the virtual acting force between the two is repulsive force, the direction of the slave vehicle is adjusted according to the direction indicated by the formation holding instruction through the guidance of the virtual acting force, and when the distance is longer, the slave vehicle moves towards the direction of the master vehicle; when the distance is close, the direction of the slave aircraft departing from the main aircraft moves, and the relative movement distance of the slave aircraft is
In one embodiment, the main vehicle detects the respective distances from the respective slave vehicles to the local, and the motion control commands of the slave vehicles are generated according to the respective distances from the slave vehicles to the local, and the sending of the motion control commands to the corresponding slave vehicles comprises:
the main aircraft loads motion control instructions generated at the last moment according to the distances from the auxiliary aircraft to the local part to radar signals to form detection and communication integrated signals, the waveform diversity characteristic of an acoustic sensor array of the main aircraft is utilized, the emission beam forming technology is utilized to realize the detection of the main lobe for the auxiliary aircraft, and the side lobe is used for radar communication integrated waveforms for directional communication to the auxiliary aircraft.
Specifically, the master aircraft can load a detection instruction used for detecting respective distances from the slave aircraft to the local and a motion control instruction generated according to the respective distances from the slave aircraft to the local at the last time to radar signals, so as to form a spatial beam with a sounding and communicating integrated function, enable a main lobe of the spatial beam to be used for detection of the slave aircraft, enable a side lobe to be used for interaction of the motion control instruction, and send the spatial beam to the slave aircraft.
In the process of generating the spatial beams, the main aircraft can also carry out coding according to contents such as formation instructions, aircraft state information and the like, so that a main lobe in the spatial beams is used for discovering nearby aircraft, and side lobes are used for interacting the contents such as the formation instructions, the aircraft state information and the like, so that the working efficiency of the main aircraft is improved.
In one embodiment, the underwater unmanned vehicle formation can also execute corresponding detection tasks in the process of keeping formation operation. In the process of carrying out a detection task by an underwater unmanned vehicle formation, if a plurality of vibration elements are considered to simultaneously send the same signal, an orthogonal frequency division multiplexing signal which is simple to realize and has strong anti-interference capability can be adopted, and high-efficiency data transmission can be realized, wherein the emission signal of each vehicle can be expressed as:
wherein s (t) represents a transmission signal, d (mN + n) is loading data of the mth OFDM symbol on the nth subcarrier,
is a rectangular window function, M represents the total number of OFDM symbols, N represents the total number of subcarriers, T represents a time variable, T represents a sampling period, fnIndicating the carrier frequency of the nth subcarrier.
Because the positions of the devices are different, the phases of the superposed signals are deviated, and the precoding vectors are adopted for compensation, so that the received signals at the receiving end (corresponding communication target) can be represented as follows:
y(t)＝Ahe2πftwTaφ+n(t)，
wherein y (t) representsReceiving signals, A represents amplitude, h represents underwater sound channel fading, t represents time variable, w represents precoding vector,
the phase deviation is represented by the phase deviation,
the phase deviation of the ith vibration element of the acoustic sensor array carried by the underwater unmanned vehicle is shown, i is 1, …, K is the number of the vibration elements, n (t) shows that the mean value is 0 and the variance is sigma2White gaussian noise. A precoding vector w can be calculated by this equation.
In one example, the determination of the optimal solution for w comprises:
determining vector parameters which meet constraint conditions and enable the objective function to obtain the maximum value as the optimal solution of w; the objective function includes:
the constraint conditions include:
||w||2≤1。
in particular, the amount of the solvent to be used,
wherein, w*Representing the optimal solution for w.
According to the sounding-integration-based formation coordination method for the underwater unmanned vehicles, a space beam is formed in a mode of precoding information transmitted by an acoustic sensor array carried by the underwater unmanned vehicles, a communication signal is loaded on the space beam to form a sounding-communication integration signal, and specifically, a main lobe is used for detecting the slave vehicles by using a transmitting beam forming technology, and a side lobe is used for directionally communicating the slave vehicles. The unmanned aircraft formation form maintaining and task coordinating functions are achieved by the aid of a sounding and communicating integrated technology. Compared with other unmanned aircraft formation cooperation methods, the method provided by the invention has the characteristics of high formation cooperation efficiency and strong self-organization capability.
In one embodiment, referring to fig. 2, a corresponding mobile underwater wireless sensor network for formation of underwater vehicles receives instructions from a surface control center to perform detection tasks and reports detection information to the surface control center. The unmanned underwater vehicle formation comprises a main vehicle and a plurality of slave vehicles, wherein the main vehicle and the slave vehicles both carry acoustic sensor arrays. The main aircraft is responsible for interacting with the water surface ship instructions and distributing formation coordination instructions to the slave aircraft. The main lobe is used for discovering an adjacent aircraft, and the side lobes are used for interacting formation instructions and aircraft state information, namely, the functions of formation shape keeping and task coordination of the unmanned aircraft are realized by utilizing a sounding and communicating integration technology. During the moving process of the mobile underwater wireless sensor network, the distance between the master vehicle and the slave vehicle is too close or too far due to the influence of external factors such as ocean currents. When the distance between the master aircraft and the slave aircraft is greater than a threshold value, the virtual acting force between the master aircraft and the slave aircraft is gravitation; when the distance is longer, the slave aircraft moves towards the direction of the master aircraft; when the distance is close, the slave vehicle moves away from the direction of the master vehicle. The main vehicle continuously forms space beams to detect in real time, meanwhile, a formation keeping instruction is issued, and the slave vehicle is adjusted until the distance between the main vehicle and the slave vehicle is within a threshold range, so that formation cooperation of the mobile underwater wireless sensor network underwater vehicle is realized.
Referring to fig. 3, a spatial beam is formed by an underwater unmanned vehicle acoustic sensor array transmitting information precoding mode, a main lobe and side lobes exist in an output beam, the main lobe of a main vehicle can be further used for reporting detection information and the discovery of an adjacent vehicle to a water surface control center in real time when a detection task is executed, and the side lobes can be used for interaction of a formation instruction and vehicle state information; the space beams generated by an acoustic sensor array carried by the aircraft perform detection tasks, and information can be superposed to realize information interaction with the main aircraft.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that the terms "first \ second \ third" referred to in the embodiments of the present application merely distinguish similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence when allowed. It should be understood that "first \ second \ third" distinct objects may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented in an order other than those illustrated or described herein.
The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device that comprises a list of steps or modules is not limited to the listed steps or modules but may alternatively include other steps or modules not listed or inherent to such process, method, product, or device.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (4)
1. An underwater unmanned aircraft formation cooperation method based on sounding integration is characterized by comprising the following steps:
s10, the master aircraft detects the respective distances from the slave aircraft to the local, generates a motion control instruction of each slave aircraft according to the respective distances from the slave aircraft to the local, and sends the motion control instruction to the corresponding slave aircraft; the method specifically comprises the following steps:
the method comprises the steps that a main aircraft loads motion control instructions generated at the last moment according to the distances from the auxiliary aircraft to the local part to radar signals to form detection and communication integrated signals, the detection and communication integrated signals are detected by the main lobe through the waveform diversity characteristic of an acoustic sensor array of the main aircraft and through the emission beam forming technology, and the side lobes are used for radar communication integrated waveforms for directional communication to the auxiliary aircraft;
and S20, each slave aircraft analyzes the corresponding motion control command, acquires the moving direction and the moving distance, and moves the local position according to the moving direction and the moving distance.
2. The sounding integration-based underwater unmanned vehicle formation cooperative method according to claim 1, wherein generating motion control commands of the slave vehicle according to respective distances from the slave vehicle to the local comprises:
if the distance from the slave vehicle to the local is within a preset distance range, generating a motion control instruction for keeping the current running state;
if the distance from the slave vehicle to the local is greater than or equal to the distance upper limit value of the distance range, the moving direction in the motion control instruction is the direction close to the master vehicle, and the moving distance is the preset relative moving distance;
and if the distance from the slave vehicle to the local is less than or equal to the lower limit value of the distance range, the moving direction in the motion control instruction is the direction far away from the master vehicle, and the moving distance is the preset relative moving distance.
3. The sounding-integration-based underwater unmanned aerial vehicle formation cooperative method according to claim 2, wherein the distance range is
Wherein R ismaxIs the maximum coverage of the beam emitted by the host vehicle.
4. The sounding-integration-based underwater unmanned aerial vehicle formation coordination method according to claim 3, wherein the relative movement distance is
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