CN111427008A - Position determination method for underwater autonomous vehicle cluster and related device - Google Patents
Position determination method for underwater autonomous vehicle cluster and related device Download PDFInfo
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- CN111427008A CN111427008A CN202010309055.6A CN202010309055A CN111427008A CN 111427008 A CN111427008 A CN 111427008A CN 202010309055 A CN202010309055 A CN 202010309055A CN 111427008 A CN111427008 A CN 111427008A
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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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The invention discloses a position determination method and a related device for an underwater autonomous vehicle cluster.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a position determination method and a related device for an underwater autonomous vehicle cluster.
Background
As is well known, most of the earth is covered by the ocean, so the understanding and exploration of the ocean are very important, but the problems of energy, communication, ocean construction and the like are limited, the underwater monitoring equipment usually works independently, and compared with other communication technologies, the underwater autonomous vehicle clustering technology is still in a starting stage, so that how to realize the accurate positioning of the underwater autonomous vehicle clustering is a problem to be solved urgently.
Disclosure of Invention
The invention provides a position determination method and a related device for an underwater autonomous vehicle cluster, which are used for solving the problem that the underwater autonomous vehicle cluster cannot be accurately positioned in the prior art.
In a first aspect, the present invention provides a method for determining the position of a cluster of autonomous underwater vehicles, characterized in that it comprises: the underwater autonomous vehicle cluster comprises a plurality of underwater autonomous vehicles, and each underwater autonomous vehicle is provided with a sound source, a vector hydrophone and a controller;
triggering all sound sources to transmit sound source signals at a preset time point, wherein each sound source uniquely corresponds to one transmitting frequency;
each vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous aircrafts, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to a controller on the underwater autonomous aircraft where the vector hydrophone is located;
and the controller determines the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration speed signal in the three-dimensional direction and the attitude information of the underwater autonomous aircrafts.
Optionally, before triggering all sound sources to emit sound source signals at the preset time point, the method further includes: and carrying out unified time service on all the underwater autonomous aircrafts.
Optionally, the determining, by the controller, the positions of other underwater autonomous vehicles according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction, and the attitude information of the underwater autonomous vehicle itself includes:
the controller converts the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction;
after the sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction are preprocessed and free field compensated, the relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles is determined based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction;
and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.
Optionally, determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction includes:
determining time delay information according to the compensated sound pressure digital signals, and determining distance information between the vector hydrophone and each other underwater autonomous vehicle based on the time delay information;
calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction;
and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.
In a second aspect, the present invention provides a position determination apparatus for an autonomous underwater vehicle cluster, the apparatus comprising:
the sound source is used for transmitting sound source signals at a preset time point according to triggering, wherein each sound source only corresponds to one transmitting frequency;
the vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous vehicles, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to corresponding controllers;
and the controller is used for determining the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction and the attitude information of the underwater autonomous aircraft.
Optionally, the apparatus further comprises: a time service unit; and the time service unit is used for carrying out unified time service according to the trigger.
Optionally, the controller further comprises:
the digital acquisition card is used for converting the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction by the controller and preprocessing the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;
the signal processing board is used for performing free field compensation on the preprocessed sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction, and then determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction; and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.
Optionally, the signal processing board is further configured to determine time delay information according to the compensated sound pressure digital signal, and determine distance information between the vector hydrophone and each of the other underwater autonomous vehicles based on the time delay information; calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction; and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.
Optionally, the controller further comprises: a signal generator and a transmitting module;
the signal generator is used for generating a sound source signal with a preset waveform;
and the transmitting module is used for amplifying the sound source signal, sending the amplified sound source signal to the sound source and triggering the sound source to transmit the sound source signal.
In a third aspect, the invention provides an underwater autonomous vehicle comprising the position determination device for an underwater autonomous vehicle cluster described above.
The invention has the following beneficial effects:
according to the invention, each underwater autonomous vehicle is provided with the sound source, the vector hydrophone and the controller, the sound source signal is emitted through the sound source, the vector hydrophone monitors the sound source signal, and finally the sound source signal is processed through the controller, so that the position of each underwater autonomous vehicle is finally determined, and further the integral control of an underwater autonomous vehicle cluster is realized, and the problem that the underwater autonomous vehicle cluster cannot be accurately controlled in the prior art is effectively solved.
Drawings
Fig. 1 is a schematic flow chart of a position determination method for an underwater autonomous vehicle cluster according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a position determination device for an underwater autonomous vehicle cluster, provided by a first embodiment of the invention;
FIG. 3 is a schematic illustration of position determination for an autonomous underwater vehicle cluster provided by a first embodiment of the present invention;
fig. 4 is a schematic workflow diagram of a position determination method for an underwater autonomous vehicle cluster according to a first embodiment of the present invention;
fig. 5 is a schematic structural diagram of a position determination device for an underwater autonomous vehicle cluster according to a first embodiment of the present invention.
Detailed Description
Aiming at the problem that the underwater autonomous vehicle cluster cannot be accurately controlled in the prior art, the embodiment of the invention arranges the sound source, the vector hydrophone and the controller on each underwater autonomous vehicle, the sound source emits a sound source signal, the vector hydrophone monitors the sound source signal, and finally the controller processes the sound source signal to finally determine the position of the underwater autonomous vehicle cluster, thereby realizing the integral control of the underwater autonomous vehicle cluster and effectively solving the problem that the underwater autonomous vehicle cluster cannot be accurately controlled in the prior art. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The first embodiment of the invention provides a position determination method for an underwater autonomous vehicle cluster, wherein the underwater autonomous vehicle cluster comprises a plurality of underwater autonomous vehicles, and each underwater autonomous vehicle is provided with a sound source, a vector hydrophone and a controller; referring to fig. 1, the method includes:
s101, triggering all sound sources to transmit sound source signals at a preset time point, wherein each sound source uniquely corresponds to one transmitting frequency;
because the underwater autonomous vehicles measure the distance in a time delay manner, the unification of clocks among different underwater autonomous vehicles is the key of the accuracy of distance measurement, so that accurate time service needs to be performed on each underwater autonomous vehicle, for example, the unified time service can be performed before each underwater autonomous vehicle enters water, and in order to further ensure the accuracy of the measured position, the embodiment of the invention adopts the high-precision crystal oscillator module for timing, and the GPS/Beidou time service is performed after water is discharged at intervals, so that the unification of the clocks among the underwater autonomous vehicles is further ensured.
In specific implementation, in order to distinguish sound source signals emitted by different underwater autonomous vehicles, in the embodiment of the present invention, each sound source signal emitted by each sound source uniquely corresponds to one emission frequency, that is, a frequency division multiple access manner is adopted in the embodiment of the present invention, that is, each node (i.e., an underwater autonomous vehicle) is exclusively provided with a signal of one frequency band, each node also distinguishes other nodes by receiving frequency spectrum information of the signal, and a specific signal form needs to adopt signals which are easy to perform correlation extraction, such as chirp signals and the like. The position of the underwater autonomous vehicle is determined by triggering a sound source to emit a sound source signal at a uniformly specified time point and then processing the sound source signal.
S102, each vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous aircrafts, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to a controller of the underwater autonomous aircraft where the vector hydrophone is located;
specifically, the vector hydrophone in the embodiment of the invention is in a real-time monitoring state, is a device for sensing sound pressure and vibration velocity at the arrangement position, and outputs analog signals of the sound pressure and the vibration velocity;
in specific implementation, the vector hydrophone positioning signal of the embodiment of the invention obtains the sound pressure and the vibration velocity in the three-dimensional direction of the acoustic beacon, namely the vector hydrophone has a sound pressure channel and three vibration velocity channels, and can monitor the sound pressure and the vibration velocity in the three-dimensional direction according to the positioning signal sent by the acoustic beacon;
and S103, the controller determines the positions of other underwater autonomous vehicles according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction and the attitude information of the underwater autonomous vehicle.
Specifically, in the embodiment of the present invention, the sound pressure signal and the vibration velocity signal in the three-dimensional direction are converted into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction by a controller; after the sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction are preprocessed and free field compensated, the relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles is determined based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction; and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.
The embodiment of the present invention provides a method for determining relative position information between an underwater autonomous vehicle and other underwater autonomous vehicles based on compensated sound pressure digital signals and vibration velocity digital signals in a three-dimensional direction, including:
determining time delay information according to the compensated sound pressure digital signals, and determining distance information between the vector hydrophone and each other underwater autonomous vehicle based on the time delay information;
calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction;
and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.
Specifically, in the embodiment of the invention, the vector hydrophone is provided with one sound pressure channel and three vibration velocity channels. The method comprises the steps that a sound pressure signal is obtained through a sound pressure channel, time delay information is obtained after the sound pressure signal is preprocessed and free field compensation is carried out, and then the distance between the underwater autonomous vehicle and other underwater autonomous vehicles is measured according to the time delay information; and then according to the vibration velocity signals in the three-dimensional direction after preprocessing and free field compensation, the direction between the underwater autonomous vehicle and other underwater autonomous vehicles can be calculated through a direction finding algorithm. And the position relation between the underwater autonomous vehicle and other underwater autonomous vehicles can be calculated according to the distance and the direction.
That is to say, after the relative positions of the peripheral nodes are obtained through signal processing in the embodiments of the present invention, the position information of the peripheral nodes is further mapped onto a uniform coordinate system that does not change with time according to the posture information of the node, and the optimal position coordinates of the node are estimated by using an optimization algorithm such as kalman filtering.
Fig. 2 is a schematic structural diagram of a position determination device for an underwater autonomous vehicle cluster according to a first embodiment of the present invention, and the method according to the embodiment of the present invention will be further described with reference to fig. 2:
each underwater autonomous vehicle is provided with a position determination device for an underwater autonomous vehicle cluster, and the device specifically comprises: the controller comprises a vector hydrophone, a sound source, a GPS module and an attitude sensor, wherein a digital acquisition board, a signal processing board, a transmitting module, a signal generator, a main control board and a crystal oscillator module integrally form the controller in the embodiment of the invention, and the following components are explained:
the vector hydrophone and the sound source in the embodiment of the invention are wet-end equipment and work in water. And the other devices are dry-end devices which are integrated and then deployed in the underwater autonomous vehicle cabin. Vector hydrophone: a device for sensing sound pressure and vibration velocity at a layout position is disclosed, wherein the sound pressure is scalar information, the vibration velocity is vector information, and data are output as analog signals;
the digital acquisition card is used for converting analog signals acquired by the vector hydrophone into digital signals and simultaneously comprises signal preprocessing capacity, wherein the preprocessing specifically comprises amplification, filtering and the like; that is, in the embodiment of the present invention, the sound pressure signal and the vibration velocity signal in the three-dimensional direction acquired by the vector hydrophone are converted into the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction by the digital acquisition card, and the converted signals are subjected to preprocessing such as amplification and filtering.
And the signal processing board is used for analyzing and processing the data output by the digital acquisition card, and running algorithms such as free field compensation, high-resolution direction finding, time delay distance measurement calculation, coordinate conversion and the like to obtain the relative positions of other aircrafts and the aircraft. In other words, in the embodiment of the invention, the signal processing board is used for performing free field compensation on the preprocessed signals, further the relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles is obtained according to the signals of the free field compensation, and finally the position information of other underwater autonomous vehicles is determined according to the attitude information, the geographic position and the relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles.
The main control board coordinates the working time of the sound source and the vector hydrophone, controls data acquisition and data intercommunication among the signal processing board, the attitude sensor, the GPS module and the crystal oscillator module, and sends position information of other nodes to the underwater autonomous aircraft control system;
the signal generator is used for generating an analog signal waveform for transmission according to the waveform setting of each node;
the transmitting module is used for amplifying the analog signal generated by the signal generator and driving the sound source to send a specified waveform signal;
the sound source converts the electric signal into an acoustic signal and sends the acoustic signal out through an underwater acoustic channel;
the attitude sensor is used for acquiring the attitude information of the node;
the GPS module is used for carrying out network time service of the node;
the invention discloses a crystal oscillator module, which needs a high-precision clock crystal oscillator module to ensure that each node can accurately time for a period of time after network time service.
As shown in fig. 3, the principle of position determination for an autonomous underwater vehicle cluster in the embodiment of the present invention includes: all the underwater autonomous vehicles need to carry the relative position measuring device in the invention and are used for detecting positioning signals sent by other nodes around. Sound pressure and three-dimensional vibration velocity information of signals of each frequency band are processed through a vector hydrophone, and three-dimensional space directions of other nodes are obtained; the distance information of other nodes is obtained through calculation according to the time delay information from the sending time to the receiving time of each frequency band signal, and the direction and the distance information of each node are paired, so that the position of each other node relative to a polar coordinate system of the local machine is obtained.
The direction finding in the embodiment of the invention adopts a high-resolution direction finding algorithm, the direction finding precision of the algorithm is superior to that of a common direction finding algorithm, the distance finding in the embodiment of the invention adopts a clock synchronization distance finding method, namely, two ends are required to keep high-precision clock synchronization, a sending end sends a positioning signal at fixed time, and a receiving end obtains the distance information between the sending end and the receiving end according to the difference value between the receiving time and the appointed transmitting time and by combining sound velocity information calculation.
Fig. 4 is a schematic workflow diagram of a position determination method for an underwater autonomous vehicle cluster according to a first embodiment of the present invention, and as shown in fig. 4, the workflow of the embodiment of the present invention includes:
step 2, launching the underwater autonomous vehicle;
step 3, after the protection time is over, each underwater autonomous vehicle sends a frequency division multiple access positioning signal at regular time, and the main control board controls the digital acquisition card to stop data acquisition within the sending time period;
step 4, after the transmission of each underwater autonomous aircraft is finished, the main control board controls a digital acquisition card to start to acquire signals;
step 5, each underwater autonomous vehicle calculates the distance and the direction of adjacent nodes according to the received positioning signals, and obtains the polar coordinate positions of the peripheral nodes;
step 6, optimizing the actual position and track of the underwater autonomous vehicle by using algorithms such as Kalman filtering;
step 7, sending the coordinate data to an underwater autonomous aircraft controller;
step 8, judging whether the designated time is reached, if not, executing the next step, if so, outputting water for GPS time service, and then outputting water after the time service is finished;
and 9, repeatedly executing the step 1.
As shown in table 1, the data preprocessing part in the embodiment of the present invention is performed in a digital acquisition card, and mainly includes sensitivity correction, phase compensation, filtering, amplification, AD conversion, and the like; the data processing part is carried out in a signal processing board, and the relative position relation between the peripheral nodes and the local node is finally obtained through a series of operations in the processes of signal detection, distance measurement algorithm, direction finding algorithm, coordinate conversion, position optimization and the like.
Table 1 function table of digital acquisition card and signal processing board of the invention
The invention will be described in detail below by means of a specific example:
underwater vehicle cluster straight-line-shaped advancing and turning
The cluster in the embodiment of the invention comprises 4 underwater autonomous aircrafts and has the effect of advancing and turning in a straight-line shape in water. Example working steps are as follows:
1. 4, the relative position measuring devices are installed on the underwater autonomous aircrafts, and the devices are powered on and distributed in a water tank test environment;
2. after the device performs clock synchronization, the device submerges to the underwater and starts to advance;
3. in the advancing process, the device sends out positioning signals according to the time interval of one time in one second;
4. after receiving the positioning signals, the devices on other nodes carry out analysis processing to obtain the relative position information of all the peripheral nodes and transmit the relative position information to a control system of the underwater vehicle;
5. the underwater vehicle control system changes navigation information such as self navigation speed, course and the like according to the position information of the peripheral nodes, so that the linear traveling is realized;
6. updating the position information once for 1 second all the time among the nodes in the cluster;
7. when the automobile turns, the outer ring node accelerates and turns in a large radian; the inner ring node is decelerated and turns in a small radian, and the linear turning is realized in the overall effect.
Generally, the embodiment of the invention is mainly applied to an underwater autonomous vehicle cluster and used for detecting the position information of other nodes in the cluster relative to the node. After the position information is accurately acquired, the node can maintain the relative stability of the cluster by adjusting the position of the node, and collision and queue falling are avoided. Compared with other positioning devices, the method does not have a communication process, does not occupy communication resources such as an underwater acoustic communicator and the like, does not need to deploy any auxiliary facilities in a task water area in advance, can directly work after being installed on an underwater autonomous vehicle, and can provide higher position updating frequency compared with other schemes, so that nodes in a cluster can quickly update position information of peripheral nodes, and collision and queue-falling situations are avoided.
A second embodiment of the invention provides a position estimation device for an autonomous underwater vehicle cluster, see fig. 5, comprising:
the system comprises sound sources, a control unit and a processing unit, wherein the sound sources are used for transmitting sound source signals at preset time points according to triggering, and each sound source uniquely corresponds to one transmitting frequency;
in specific implementation, in order to distinguish sound source signals emitted by different underwater autonomous vehicles, in the embodiment of the present invention, each sound source signal emitted by each sound source uniquely corresponds to one emission frequency, that is, a frequency division multiple access manner is adopted in the embodiment of the present invention, that is, each node (i.e., an underwater autonomous vehicle) is exclusively provided with a signal of one frequency band, each node also distinguishes other nodes by receiving frequency spectrum information of the signal, and a specific signal form needs to adopt signals which are easy to perform correlation extraction, such as chirp signals and the like. The position of the underwater autonomous vehicle is determined by triggering a sound source to emit a sound source signal at a uniformly specified time point and then processing the sound source signal.
The vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous vehicles, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to corresponding controllers;
specifically, the vector hydrophone in the embodiment of the invention is in a real-time monitoring state, is a device for sensing sound pressure and vibration velocity at the arrangement position, and outputs analog signals of the sound pressure and the vibration velocity;
in specific implementation, the vector hydrophone positioning signal of the embodiment of the invention obtains the sound pressure and the vibration velocity in the three-dimensional direction of the acoustic beacon, namely the vector hydrophone has a sound pressure channel and three vibration velocity channels, and can monitor the sound pressure and the vibration velocity in the three-dimensional direction according to the positioning signal sent by the acoustic beacon;
and the controller is used for determining the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction and the attitude information of the underwater autonomous aircrafts.
Specifically, in the embodiment of the present invention, the sound pressure signal and the vibration velocity signal in the three-dimensional direction are converted into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction by a controller; after the sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction are preprocessed and free field compensated, the relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles is determined based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction; and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.
In specific implementation, the apparatus according to the embodiment of the present invention further includes: a time service unit; and the time service unit is used for carrying out unified time service according to the trigger.
Because the underwater autonomous vehicles measure the distance in a time delay manner, the unification of clocks among different underwater autonomous vehicles is the key of the accuracy of distance measurement, so that accurate time service needs to be performed on each underwater autonomous vehicle, for example, the unified time service can be performed before each underwater autonomous vehicle enters water, and in order to further ensure the accuracy of the measured position, the embodiment of the invention adopts the high-precision crystal oscillator module for timing, and the GPS/Beidou time service is performed after water is discharged at intervals, so that the unification of the clocks among the underwater autonomous vehicles is further ensured.
Further, in an embodiment of the present invention, the controller further includes:
the digital acquisition card is used for converting the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction by the controller and preprocessing the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;
the signal processing board is used for performing free field compensation on the preprocessed sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction, and then determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction; and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.
In a specific implementation, in the embodiment of the present invention, the signal processing board is further configured to determine time delay information according to the compensated sound pressure digital signal, and determine distance information between the vector hydrophone and each of other underwater autonomous vehicles based on the time delay information; calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction; and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.
Specifically, in the embodiment of the invention, the vector hydrophone is provided with one sound pressure channel and three vibration velocity channels. The method comprises the steps that a sound pressure signal is obtained through a sound pressure channel, time delay information is obtained after the sound pressure signal is preprocessed and free field compensation is carried out, and then the distance between the underwater autonomous vehicle and other underwater autonomous vehicles is measured according to the time delay information; and then according to the vibration velocity signals in the three-dimensional direction after preprocessing and free field compensation, the direction between the underwater autonomous vehicle and other underwater autonomous vehicles can be calculated through a direction finding algorithm. And the position relation between the underwater autonomous vehicle and other underwater autonomous vehicles can be calculated according to the distance and the direction.
That is to say, after the relative positions of the peripheral nodes are obtained through signal processing in the embodiments of the present invention, the position information of the peripheral nodes is further mapped onto a uniform coordinate system that does not change with time according to the posture information of the node, and the optimal position coordinates of the node are estimated by using an optimization algorithm such as kalman filtering.
In specific implementation, in the embodiment of the present invention, the controller further includes: a signal generator and a transmitting module; the signal generator is used for generating a sound source signal with a preset waveform; and the transmitting module is used for amplifying the sound source signal, sending the amplified sound source signal to the sound source and triggering the sound source to transmit the sound source signal.
Further, the device provided by the embodiment of the invention further comprises an attitude sensor, and the attitude information of the underwater autonomous vehicle is acquired through the attitude sensor so as to be used for determining the position of the underwater autonomous vehicle.
Generally, the embodiment of the invention is mainly applied to an underwater autonomous vehicle cluster and used for detecting the position information of other nodes in the cluster relative to the node. After the position information is accurately acquired, the node can maintain the relative stability of the cluster by adjusting the position of the node, and collision and queue falling are avoided.
The relevant content of the embodiments of the present invention can be understood by referring to the first embodiment of the present invention, and will not be discussed in detail herein.
A third embodiment of the present invention provides an underwater autonomous vehicle including the position determination apparatus for an underwater autonomous vehicle cluster according to any one of the second embodiments of the present invention. Reference will be made in detail to the first and second embodiments of the present invention for understanding, which will not be discussed in detail herein.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and the scope of the invention should not be limited to the embodiments described above.
Claims (10)
1. A method for position estimation for an autonomous underwater vehicle cluster, comprising: the underwater autonomous vehicle cluster comprises a plurality of underwater autonomous vehicles, and each underwater autonomous vehicle is provided with a sound source, a vector hydrophone and a controller;
triggering all sound sources to transmit sound source signals at a preset time point, wherein each sound source uniquely corresponds to one transmitting frequency;
each vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous aircrafts, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to a controller on the underwater autonomous aircraft where the vector hydrophone is located;
and the controller determines the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration speed signal in the three-dimensional direction and the attitude information of the underwater autonomous aircrafts.
2. The method according to claim 1, wherein before triggering all sound sources to emit sound source signals at a preset time point, further comprising:
and carrying out unified time service on all the underwater autonomous aircrafts.
3. The method according to claim 1, wherein the controller determines the positions of other underwater autonomous vehicles according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction and the attitude information of the underwater autonomous vehicle, and comprises the following steps:
the controller converts the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction;
after the sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction are preprocessed and free field compensated, the relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles is determined based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction;
and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.
4. The method according to claim 2, wherein determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction comprises:
determining time delay information according to the compensated sound pressure digital signals, and determining distance information between the vector hydrophone and each other underwater autonomous vehicle based on the time delay information;
calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction;
and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.
5. A position determination device for an autonomous underwater vehicle cluster, comprising:
the system comprises sound sources, a control unit and a processing unit, wherein the sound sources are used for transmitting sound source signals at preset time points according to triggering, and each sound source uniquely corresponds to one transmitting frequency;
the vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous vehicles, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to corresponding controllers;
and the controller is used for determining the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction and the attitude information of the underwater autonomous aircraft.
6. The apparatus of claim 5, further comprising: a time service unit;
and the time service unit is used for carrying out unified time service according to the trigger.
7. The apparatus of claim 5, wherein the controller further comprises:
the digital acquisition card is used for converting the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction by the controller and preprocessing the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;
the signal processing board is used for performing free field compensation on the preprocessed sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction, and then determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction; and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.
8. The apparatus of claim 7,
the signal processing board is further used for determining time delay information according to the compensated sound pressure digital signals and determining distance information between the vector hydrophone and each other underwater autonomous vehicle based on the time delay information; calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction; and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.
9. The apparatus of any one of claims 5-8, wherein the controller further comprises: a signal generator and a transmitting module;
the signal generator is used for generating a sound source signal with a preset waveform;
and the transmitting module is used for amplifying the sound source signal, sending the amplified sound source signal to the sound source and triggering the sound source to transmit the sound source signal.
10. An autonomous underwater vehicle comprising a position estimation device for clusters of autonomous underwater vehicles according to any of claims 5 to 9.
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