CN113162698A - Underwater unmanned vehicle isomer networking detection system and detection method thereof - Google Patents
Underwater unmanned vehicle isomer networking detection system and detection method thereof Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses an underwater unmanned vehicle isomer networking detection system and a detection method thereof, belonging to the technical field of underwater detection systems, and the technical scheme has the key points that the underwater unmanned vehicle isomer networking detection system comprises a plurality of underwater gliders, a shore-based finger control center for monitoring and controlling the underwater gliders, and a wave glider; the wave glider is communicated with a shore-based finger control center satellite, and the underwater glider is communicated with the wave glider underwater sound or the shore-based finger control center satellite; when the underwater glider is linked in underwater acoustic communication with the wave glider; the wave glider is in communication link with a shore-based command center satellite; when the underwater glider is in communication link with the shore-based command center satellite, the wave glider is disconnected from the shore-based command center satellite; the wave glider is provided with a wave control system for controlling the motion of the wave glider; the underwater glider is provided with an underwater control system for controlling the movement of the underwater glider; when underwater detection is carried out, the invention has the advantages of stable and good quality of transmission signals, high information transmission efficiency and energy conservation.
Description
Technical Field
The invention relates to the technical field of underwater detection systems, in particular to an underwater unmanned vehicle special-shaped body networking detection system and a detection method thereof.
Background
The underwater vehicle is a vehicle which navigates underwater and comprises a manned underwater vehicle and an unmanned underwater vehicle. The underwater glider is used as an autonomous underwater vehicle with long time sequence and large range, and formation, networking and cooperative observation are one of the most important application modes.
At present, when underwater gliders are used for detecting underwater, a satellite communicator is usually arranged on the underwater gliders, and workers send detection instructions to the underwater gliders through a shore-based control center on the ground so as to receive satellite detection signals sent back by the underwater gliders, thereby completing detection and acquisition of underwater information. The shore-based control center directly adopts satellite communication to each underwater glider, the transmission signal is influenced by the underwater environment, the quality of the transmission signal is poor, and the underwater detection quality is influenced. Most of the existing detection equipment such as domestic and foreign underwater vehicles and the like do not have the functions of underwater real-time communication and underwater networking, and basically float to the water surface after the physical, chemical or acoustic information of the ocean is collected underwater and are sent to a shore-based finger control center through satellite communication. When information is sent to a shore-based command center, the underwater vehicle needs to float upwards repeatedly, so that the efficiency of information transmission is low, and energy is consumed.
Disclosure of Invention
The invention aims to provide an isomer networking detection system of an underwater unmanned vehicle, which has the advantages of stable and good quality of transmission signals, high information transmission efficiency and energy conservation when underwater detection is carried out.
The technical purpose of the invention is realized by the following technical scheme: an underwater unmanned vehicle isomer networking detection system comprises a plurality of underwater gliders, a shore-based finger control center and a wave glider, wherein the shore-based finger control center is used for monitoring and controlling the underwater gliders; the wave glider is communicated with a shore-based finger control center satellite, and the underwater glider is communicated with the wave glider underwater sound or the shore-based finger control center satellite; when the underwater glider is in underwater acoustic communication link with the wave glider, the wave glider is in communication link with the shore-based finger control center satellite; when the underwater glider is in satellite communication link with the shore-based finger control center, the wave glider is disconnected from the shore-based finger control center in satellite communication link;
the wave glider is provided with a wave control system for controlling the motion of the wave glider; the underwater glider is provided with an underwater control system for controlling the movement of the underwater glider.
Through adopting above-mentioned scheme, glider under water and wave glider underwater sound communication or with bank base finger control center satellite communication, under being in normal operating mode, the wave glider is as glider under water and bank base finger control center's communication relay, wave glider and glider under water use water as the medium, adopt closely water sound communication, and then wave glider communicates through satellite communication and bank base finger control center, thereby when carrying out underwater detection signal transmission, the glider need not to carry out the come-up motion under water, thereby effectively improve information transfer's efficiency, and the energy saving.
Preferably, a water surface underwater acoustic communicator is fixed at the lower part of the wave glider; an underwater acoustic communicator, a mounting bracket and a servo motor are arranged at the upper part of one end of the underwater glider;
the underwater acoustic communicator is fixedly connected with the mounting bracket; the mounting bracket is hinged with the underwater glider; the body of the servo motor is fixedly connected with the underwater glider, and an output shaft of the servo motor is fixedly connected with a hinged shaft of the mounting bracket.
By adopting the above scheme, through installing underwater acoustic communicator on the installing support, and then rotate around its articulated shaft through servo motor drive installing support to adjust underwater acoustic communicator's orientation, make underwater acoustic communicator towards surface of water acoustic communicator all the time, thereby make underwater acoustic communicator and surface of water acoustic communicator keep good communication state all the time.
Preferably, the underwater control system comprises a task interpreter, a depth control module, a speed control module and a waypoint tracking control module;
the task interpreter is used for receiving the task instruction sent by the wave glider, translating the task instruction and generating interpretation information; and respectively sending the depth control information, the speed control information and the path control information in the interpretation information to a depth control module, a speed control module and a waypoint tracking control module;
the depth control module is used for comparing the actual depth and the set depth deviation of the current aircraft according to the depth control information sent by the task interpreter, calculating the rotating speed and the forward and reverse rotating directions of an oil bag oil pump motor of the aircraft, generating depth adjusting information and sending the depth adjusting information to the oil bag oil pump motor;
the speed control module is used for comparing the actual speed of the current navigation device with the set speed deviation according to the speed information sent by the task interpreter, calculating the speed deviation of the propulsion motor of the navigation device, generating speed regulation information and sending the speed regulation information to the propulsion motor;
and the waypoint tracking control module is used for comparing the longitude and latitude of the current aircraft with the longitude and latitude of the set path node according to the path control information sent by the task interpreter, calculating a course adjusting vector, generating navigation adjusting information and sending the course adjusting information to a steering motor of the aircraft.
By adopting the scheme, the task interpreter translates the received task instruction; the navigation route point tracking control module controls the advancing path of the platform according to the task instruction, the depth control module controls the depth of the platform, the speed control module controls the speed of the platform, and then the platform is controlled to perform motion detection underwater according to the task requirement.
Preferably, the shore-based control center is connected with a data server, the data server is provided with a database, and the database is used for storing and storing data received by the shore-based control center.
By adopting the scheme, the shore-based control center stores the received data in the database, so that the later analysis and research on the underwater detection data by workers are facilitated.
Preferably, the shore-based command center is connected with the data server through a network server.
By adopting the scheme, the shore-based control center is connected with the data server through the network server, so that the influence of the environment and the distance on data transmission and storage is small, and the data storage is convenient.
The invention also aims to provide an underwater unmanned vehicle isomer networking detection method, and the underwater unmanned vehicle isomer networking detection system is adopted, so that the quality of transmission signals is stable and good, the information transmission efficiency is high, and the energy is saved during underwater detection.
The technical purpose of the invention is realized by the following technical scheme: each underwater glider sends the platform motion information to the wave glider through underwater acoustic communication; the wave glider generates motion feedback information according to platform motion information of each underwater glider;
the wave glider carries out address coding on each underwater glider; carrying out ID coding on the motion feedback information according to the received target underwater glider to generate an underwater sound communication data packet, and sending the underwater sound communication data packet to each underwater glider;
after each underwater glider receives the underwater sound communication data packet, the underwater sound communication data packet is analyzed, whether the ID of the received motion feedback information is consistent with the ID of the glider is judged, and if the ID of the received motion feedback information is consistent with the ID of the glider, the current motion feedback information is executed; if not, no response is made.
By adopting the scheme, the wave gliders are not only used as signal transmission relays of a plurality of underwater gliders, but also used as formation command centers in the task execution process, and the underwater gliders are controlled to move through underwater acoustic communication, so that underwater detection commands sent by a shore-based command center can be efficiently executed; in the feedback control process, the information is ID-coded, the feedback information is sent indiscriminately, and the information is identified and judged according to the ID after data analysis, so that the information transmission efficiency is high.
Preferably, each underwater glider sends the position information of the glider to the wave glider in the moving process; the wave glider generates course adjusting vector information according to the position information sent by the underwater glider and sends the course adjusting vector information to the underwater glider;
the course adjustment vector information generation comprises the following steps:
step S1, calculating the current position point and the path tangent direction of the underwater glider in each operation period;
step S2, establishing a dynamic Cartesian three-axis coordinate system by taking the current position point and the path tangential direction as the reference, taking the current position point of the underwater glider as the origin, and taking the path tangential direction as the positive direction of the x axis;
step S3, calculating the relative position coordinates of the target path point and the positive included angle between the target path point and the x axis in a dynamic Cartesian three-axis coordinate system;
and step S4, calculating the course adjusting control quantity of the next period according to the relative position coordinates and the included angle of the target path point.
By adopting the scheme, the underwater glider calculates and positions the target positioning point by establishing the dynamic Cartesian coordinates in each calculation period and taking the position and the motion direction of the underwater glider as the reference, so that the timeliness is high, and the calculation deviation is small.
Preferably, when the speed or the depth of the wave glider exceeds a set range, the wave glider sends a fault state byte signal to the underwater glider and the shore-based commanding center; when the underwater glider and the shore-based command center receive a communication signal of the wave glider, the communication signal is a fault state byte; the underwater glider and the shore-based command center are disconnected from the wave glider in communication; the underwater glider and the shore-based command center establish a satellite communication link;
when the speed or the depth of the wave glider is restored to a set range, the wave glider sends a communication signal to the underwater glider and the shore-based finger control center; the underwater glider and the shore-based command center are disconnected from a satellite communication link; the wave glider and a shore-based command center establish a satellite communication link; the underwater glider and the wave glider establish an underwater acoustic communication link.
By adopting the scheme, when the wave glider breaks down, the wave glider can not be continuously used as a formation command center to carry out motion control on each underwater glider, at the moment, the underwater gliders are in satellite communication link with the shore-based command center, and the shore-based command center carries out motion feedback control on each underwater glider, so that the formation of the underwater gliders can be ensured to be continuously carried out underwater detection tasks.
In conclusion, the invention has the following beneficial effects:
1. the underwater unmanned vehicle isomer networking detection system uses the wave glider as a communication relay, the wave glider and the underwater glider use water as a medium, close-range underwater acoustic communication is adopted, and then the wave glider is communicated with a shore-based finger control center through satellite communication, so that when underwater detection signal transmission is carried out, the underwater glider does not need to carry out floating motion, the efficiency of information transmission is effectively improved, and energy is saved.
2. The underwater glider is in underwater acoustic communication with the wave glider or in satellite communication with the shore-based finger control center, when the wave glider breaks down, the underwater glider cannot be continuously used as a formation command center to control the motion of each underwater glider, a satellite communication link is established between the underwater glider and the shore-based finger control center, and the shore-based finger control center performs motion feedback control on each underwater glider, so that the underwater vehicle formation can be ensured to continue to perform an underwater detection task.
3. Through installing underwater communication on the installing support, and then rotate around its articulated shaft through servo motor drive installing support to adjust underwater acoustic communicator's orientation, make underwater acoustic communicator and surface of water underwater acoustic communicator remain good communication state throughout.
Drawings
Fig. 1 is a schematic structural diagram of an underwater unmanned vehicle isomer networking detection system.
Fig. 2 is a functional block diagram of an underwater unmanned vehicle isomer networking detection system.
FIG. 3 is a block diagram of a subsea control system.
Fig. 4 is a schematic view of the installation structure of the underwater acoustic communicator.
In the figure, 1, an underwater glider; 11. an underwater acoustic communicator; 2. a shore-based command center; 3. a wave glider; 31. a water surface underwater acoustic communicator; 4. a wave control system; 5. an underwater control system; 51. A task interpreter; 52. a depth control module; 53. a speed control module; 54. a waypoint tracking control module; 6. a satellite communication terminal; 7. a satellite communication station; 8. a servo motor; 81. mounting a bracket; 9. a data server; 91. a database; 10. a network server.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that as used in the following description, the terms "front," "back," "left," "right," "upper," and "lower" refer to directions in the drawings, and the terms "bottom" and "top," "inner," and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Example 1:
an underwater unmanned vehicle isomer networking detection system, referring to fig. 1 and 2, comprises a shore-based finger center 2 and an underwater vehicle formation. The shore-based command center 2 is used for monitoring and controlling the formation of the underwater vehicle, and the formation of the underwater vehicle comprises a wave glider 3 and 3 to 5 underwater gliders 1. The wave glider 3 is used as a formation control center, and other underwater gliders 1 are used as formation members to be controlled by the wave glider 3. The underwater acoustic communicator 11 is provided on the upper part of the underwater glider 1, and the underwater acoustic communicator 31 is fixed to the lower part of the wave glider 3. The shore-based command center 2 is provided with a satellite communication station 7, and the satellite communication station 7 adopts a Beidou satellite communication station. The wave glider 3 is provided with a wave control system 4; the underwater glider 1 is mounted with an underwater control system 5.
Referring to fig. 1 and 2, the underwater glider 1 and the wave glider 3 are both provided with a satellite communication terminal 6, and the satellite communication terminal 6 is a Beidou satellite communication terminal. The underwater glider 1 is in underwater acoustic communication with the wave glider 3 or in satellite communication with the shore-based command center 2; when the underwater glider 1 is linked in underwater acoustic communication with the wave glider 3; the wave glider 3 is in satellite communication link with the shore-based command center 2; when the underwater glider 1 is in satellite communication link with the shore-based command center 2, the wave glider 3 is disconnected from the shore-based command center 2. Under normal operating mode, wave glider 3 instructs the communication relay of accuse center 2 as glider 1 and bank base under water, wave glider 3 uses water as the medium with glider 1 under water, adopts closely underwater acoustic communication, and then wave glider 3 instructs accuse center 2 to communicate through satellite communication and bank base, thereby when carrying out underwater detection signal transmission, glider 1 need not to carry out the come-up motion under water, thereby effectively improve information transfer's efficiency, and the energy saving.
The shore-based command center 2 is connected with a data server 9 through a network server 10. The data server 9 is provided with a database 91. The database 91 is used for storing and saving the data received by the shore-based command center 2. After receiving the data sent by the wave glider 3, the shore-based command center 2 uploads the data to the data server 9 through the network, and then stores the data into the database 91, so that the later-stage analysis and research on the data acquired by underwater detection by workers are facilitated. Wave glider 3 receives underwater glider 1 information and sends to bank base finger control center 2, and in the receipt sending process of information, underwater glider 1 continues to carry out the motion of predetermined section, need not come up at once to the frequent come up production a large amount of energy consumption has been reduced. Because the underwater glider 1 does not need to float to the water surface when information transmission is carried out, the time for the underwater glider 1 to float and submerge repeatedly is saved, and the information transmission efficiency is high.
When underwater exploration is carried out, a commander sets command parameters and task parameters through the shore-based finger control center 2, and then sends the command parameters and the task parameters to the formation finger control center through a Beidou satellite communication terminal of the shore-based finger control center 2, the formation finger control center calculates control correction values of different platforms according to a formation consistency control strategy, and then sends the control correction values to each member platform of the formation through the water surface underwater acoustic communication machine 31 carried by the wave glider 3. And the wave control system 4 or the underwater control system 5 controls the platform to move according to the control correction value, so that the set detection task is realized.
Referring to fig. 3, the wave control system 4 and the subsea control system 5 are software platforms based on intelligent hardware. The subsea control system 5 includes a task interpreter 51, a depth control module 52, a speed control module 53, and a waypoint tracking control module 54. The task interpreter 51 is used for receiving the task instruction sent by the wave glider 3, translating the task instruction and generating interpretation information; and transmits the depth control information, the speed control information, and the path control information in the interpretation information to the depth control module 52, the speed control module 53, and the waypoint tracking control module 54, respectively. And the depth control module 52 is configured to compare the current actual depth of the aircraft with a set depth deviation according to the depth control information sent by the task interpreter 51, calculate the rotating speed and the forward and reverse rotating directions of the oil bag oil pump motor of the aircraft, generate depth adjustment information, and send the depth adjustment information to the oil bag oil pump motor. And the speed control module 53 is configured to compare the actual speed of the current aircraft with a set speed deviation according to the speed information sent by the task interpreter 51, calculate an adjustment speed deviation of a propulsion motor of the aircraft, generate speed adjustment information, and send the speed adjustment information to the propulsion motor. And the waypoint tracking control module 54 is configured to compare the longitude and latitude of the current aircraft with the longitude and latitude of the set path node according to the path control information sent by the task interpreter 51, calculate a heading adjustment vector, generate heading adjustment information, and send the heading adjustment information to a steering motor of the aircraft. The principle of the wave control system 4 is the same as the control principle of the subsea control system and will not be described in detail here.
Referring to fig. 4, the transducer of the underwater acoustic communicator 11 of the underwater glider 1 is disposed upward, the end of the underwater glider 1 is provided with a mounting bracket 81 for mounting the underwater acoustic communicator 11, and the mounting bracket 81 is hinged to the underwater glider 1 about a horizontal axis. The mounting bracket 81 is provided with a servo motor 8 for adjusting the orientation of the transducer of the underwater acoustic communicator 11. The body of the servo motor 8 is fixedly connected with the underwater glider 1, and the output shaft of the servo motor 8 is coaxially arranged and fixedly connected with the hinged shaft of the mounting bracket 81. When the underwater vehicle formation carries out underwater detection tasks, the formation members drive the servo motor 8 to adjust the upward direction of the transducer of the underwater acoustic communicator 11 according to a control correction value sent by the formation control center, so that the transducer of the underwater acoustic communicator 11 always faces the underwater acoustic communicator 31, and each underwater glider 1 can better carry out underwater acoustic communication with the wave glider 3.
Example 2:
an underwater unmanned vehicle isomer networking detection method adopts the underwater unmanned vehicle isomer networking detection system in the embodiment 1. When the underwater operation task is executed, the wave gliders 3 serve as formation command centers, the underwater gliders 1 serve as formation members, and the motion of the underwater gliders 1 is subjected to feedback control through the wave gliders 3. Each underwater glider 1 sends the platform motion information to the wave glider 3 through underwater acoustic communication; the wave glider 3 generates motion feedback information from the platform motion information of each underwater glider 1.
The wave glider 3 carries out address coding on each underwater glider 1; and according to the received target underwater glider 1, the motion feedback information is subjected to ID coding to generate an underwater sound communication data packet, and the underwater sound communication data packet is sent to each underwater glider 1. After each underwater glider 1 receives the underwater sound communication data packet, analyzing the underwater sound communication data packet, judging whether the ID of the received motion feedback information is consistent with the ID of the glider, and if so, executing the current motion feedback information; if not, no response is made.
In the motion process of each underwater glider 1, the position information of the underwater glider is sent to the wave glider 3; the wave glider 3 generates course adjustment vector information according to the position information transmitted from the underwater glider 1, and transmits the course adjustment vector information to the underwater glider 1.
The course adjustment vector information generation comprises the following steps: step S1, calculating the current position point and the path tangent direction of the underwater glider 1 in each calculation period; step S2, establishing a dynamic Cartesian three-axis coordinate system by taking the current position point and the path tangent direction as the reference, taking the current position point of the underwater glider 1 as the origin, and taking the path tangent direction as the positive direction of the x axis; step S3, calculating the relative position coordinates of the target path point and the positive included angle between the target path point and the x axis in the dynamic Cartesian three-axis coordinate system; and step S4, calculating the course adjustment control quantity of the next period according to the relative position coordinates and the included angle of the target path point.
When the speed or the depth of the wave glider 3 exceeds a set range, the wave glider 3 sends a fault state byte signal to the underwater glider 1 and the shore-based commanding center 2; when the underwater glider 1 and the shore-based command center 2 receive a communication signal of the wave glider 3, the communication signal is a fault state byte; the underwater glider 1 and the shore-based finger control center 2 are disconnected from the wave glider 3 in communication; the underwater glider 1 and the shore-based command center 2 establish a satellite communication link; when the speed or the depth of the wave glider 3 is restored to the set range, the wave glider 3 sends communication signals to the underwater glider 1 and the shore-based commanding center 2; the underwater glider 1 and the shore-based command center 2 are disconnected from a satellite communication link; the wave glider 3 and the shore-based command center 2 establish a satellite communication link; the underwater glider 1 establishes an underwater acoustic communication link with the wave glider 3.
The present embodiment is only illustrative and not restrictive, and those skilled in the art can modify the present embodiment as required without inventive contribution thereto after reading the present specification, but should be protected by patent laws within the scope of the appended claims.
Claims (8)
1. The utility model provides an unmanned vehicle isomer networking detecting system under water, includes a plurality of gliders under water (1) and is used for pointing out accuse center (2) to bank base that monitoring control was carried out to glider under water (1), its characterized in that: also comprises a wave glider (3); the wave glider (3) is in satellite communication with the shore-based finger control center (2), and the underwater glider (1) is in underwater acoustic communication with the wave glider (3) or in satellite communication with the shore-based finger control center (2); when the underwater glider (1) is in underwater acoustic communication link with the wave glider (3), the wave glider (3) is in satellite communication link with the shore-based finger control center (2); when the underwater glider (1) is in satellite communication link with the shore-based finger control center (2), the wave glider (3) is disconnected from the shore-based finger control center (2);
the wave glider (3) is provided with a wave control system (4) for controlling the motion of the wave glider (3); the underwater glider (1) is provided with an underwater control system (5) for controlling the movement of the underwater glider (1).
2. The underwater unmanned vehicle isomer networking detection system of claim 1, wherein: a water surface underwater acoustic communicator (31) is fixed at the lower part of the wave glider (3); an underwater acoustic communicator (11), a mounting bracket (81) and a servo motor (8) are arranged at the upper part of one end of the underwater glider (1);
the underwater acoustic communicator (11) is fixedly connected with the mounting bracket (81); the mounting bracket (81) is hinged with the underwater glider (1); the body of servo motor (8) and glider (1) are fixed connection under water, the output shaft of servo motor (8) and the articulated shaft fixed connection of installing support (81).
3. The underwater unmanned vehicle isomer networking detection system of claim 1, wherein said underwater control system (5) comprises a task interpreter (51), a depth control module (52), a speed control module (53) and a waypoint tracking control module (54);
the task interpreter (51) is used for receiving the task instruction sent by the wave glider (3), translating the task instruction and generating interpretation information; and respectively sending the depth control information, the speed control information and the path control information in the interpretation information to a depth control module (52), a speed control module (53) and a waypoint tracking control module (54);
the depth control module (52) is used for comparing the actual depth and the set depth deviation of the current aircraft according to the depth control information sent by the task interpreter (51), calculating the rotating speed and the forward and reverse rotating directions of an oil bag oil pump motor of the aircraft, generating depth adjustment information and sending the depth adjustment information to the oil bag oil pump motor;
the speed control module (53) is used for comparing the actual speed and the set speed deviation of the current aircraft according to the speed information sent by the task interpreter (51), calculating the speed deviation of the propulsion motor of the aircraft, generating speed regulation information and sending the speed regulation information to the propulsion motor;
and the waypoint tracking control module (54) is used for comparing the longitude and latitude of the current aircraft with the longitude and latitude of the set path node according to the path control information sent by the task interpreter (51), calculating a course adjusting vector, generating navigation adjusting information and sending the course adjusting information to a steering motor of the aircraft.
4. The underwater unmanned vehicle isomer networking detection system of claim 1, wherein: the shore-based control center (2) is connected with a data server (9), the data server (9) is provided with a database (91), and the database (91) is used for storing and storing data received by the shore-based control center (2).
5. The underwater unmanned vehicle isomer networking detection system of claim 4, wherein: the shore-based command center (2) is connected with the data server (9) through the network server (10).
6. An underwater unmanned vehicle isomer networking detection method, which adopts the underwater unmanned vehicle isomer networking detection system of any one of claim 1 to claim 5, and is characterized in that:
each underwater glider (1) sends the platform motion information to the wave glider (3) through underwater acoustic communication; the wave glider (3) generates motion feedback information according to platform motion information of each underwater glider (1);
the wave glider (3) carries out address coding on each underwater glider (1); according to the received target underwater glider (1), ID coding is carried out on the motion feedback information to generate an underwater sound communication data packet, and the underwater sound communication data packet is sent to each underwater glider (1);
after each underwater glider (1) receives the underwater sound communication data packet, the underwater sound communication data packet is analyzed, whether the ID of the received motion feedback information is consistent with the ID of the glider or not is judged, and if the ID of the received motion feedback information is consistent with the ID of the glider, the current motion feedback information is executed; if not, no response is made.
7. The underwater unmanned vehicle isomer networking detection method of claim 6, wherein: during the motion process of each underwater glider (1), the position information of the underwater glider is sent to the wave glider (3); the wave glider (3) generates course adjusting vector information according to the position information sent by the underwater glider (1), and sends the course adjusting vector information to the underwater glider (1);
the course adjustment vector information generation comprises the following steps:
step S1, calculating the current position point and the path tangent direction of the underwater glider (1) in each operation period;
step S2, establishing a dynamic Cartesian three-axis coordinate system by taking the current position point and the path tangential direction as the reference, taking the current position point of the underwater glider (1) as the origin, and taking the path tangential direction as the positive direction of the x axis;
step S3, calculating the relative position coordinates of the target path point and the positive included angle between the target path point and the x axis in a dynamic Cartesian three-axis coordinate system;
and step S4, calculating course adjustment control quantity of the next period according to the relative position coordinates and the included angle of the target path point.
8. The underwater unmanned vehicle isomer networking detection method of claim 6, wherein: when the speed or the depth of the wave glider (3) exceeds a set range, the wave glider (3) sends a fault state byte signal to the underwater glider (1) and the shore-based finger control center (2); when the underwater glider (1) and the shore-based finger control center (2) receive a communication signal of the wave glider (3) and are in a fault state byte; the underwater glider (1) and the shore-based finger control center (2) are disconnected from the wave glider (3) in communication; the underwater glider (1) and the shore-based control center (2) establish a satellite communication link;
when the speed or the depth of the wave glider (3) is restored to a set range, the wave glider (3) sends communication signals to the underwater glider (1) and the shore-based finger control center (2); the underwater glider (1) is disconnected with the shore-based command center (2) through a satellite communication link; the wave glider (3) and the shore-based command center (2) establish a satellite communication link; the underwater glider (1) and the wave glider (3) are connected in underwater acoustic communication.
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