CN117739953A - Track tracing system and method after AUV unpowered fault - Google Patents
Track tracing system and method after AUV unpowered fault Download PDFInfo
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Abstract
The invention provides an AUV unpowered fault post-track tracing system and method, which relate to the technical field of autonomous aircrafts, wherein the system comprises: the system comprises a fault detection module, a main control computer, an autonomous detection tracing unit, a data transmission module, a communication link detection module and a marker release system which are sequentially connected in a communication way; further comprises: and the intersection platform is used for manually triggering the marker release system after receiving the information of the communication link detection module. The autonomous detection tracer unit includes: the data acquisition module, the data processing module and the data output module are sequentially connected; the data transmission module comprises: a communication subsystem and a ground station communicatively coupled to each other; the marker release system comprises: the control unit, the storage unit, the actuating mechanism and the state monitoring unit are connected in sequence. The technical scheme of the invention solves the problems of lower positioning precision and low reliability of the failure AUV in the prior art.
Description
Technical Field
The invention relates to the field of autonomous aircrafts, in particular to an AUV unpowered fault post-track tracing system and method.
Background
AUV is as a novel autonomous mobile platform under water, through integrating various sensors on the hull, realizes the autonomous detection to marine environment and resource. However, the AUV also faces a certain risk of failure, and once the AUV encounters problems such as power loss and mechanical failure, the AUV may fall into an out-of-control unpowered state, thereby generating potential safety hazards and causing economic loss.
In the prior art, for searching and recovering the failed AUV, a positioning method of passive detection is mainly adopted, such as region searching by using sonar. However, the passive detection positioning method has the problems of low searching efficiency, difficulty in identifying and evaluating the target state and the like. In the prior art, a method of actively releasing a beacon is also adopted to search for the failed AUV, but the problems of lower positioning precision and low reliability exist.
Therefore, there is a need for an AUV unpowered post-fault trajectory tracking system and method that can effectively improve the search efficiency and recovery success rate of a failed AUV.
Disclosure of Invention
The invention mainly aims to provide an AUV unpowered fault post-track tracing system and method, which are used for solving the problems of low positioning accuracy and low reliability of a failed AUV in the prior art.
To achieve the above object, the present invention provides an AUV unpowered post-fault trajectory tracing system, including: the system comprises a fault detection module, a main control computer, an autonomous detection tracing unit, a data transmission module, a communication link detection module and a marker release system which are sequentially connected in a communication way; further comprises: and the intersection platform is used for manually triggering the marker release system after receiving the information of the communication link detection module. The autonomous detection tracer unit includes: the data acquisition module, the data processing module and the data output module are sequentially connected; the data transmission module comprises: a communication subsystem and a ground station communicatively coupled to each other; the marker release system comprises: the control unit, the storage unit, the actuating mechanism and the state monitoring unit are connected in sequence.
Further, a control unit in the marker release system is a singlechip or a DSP chip; the memory cell includes: an RFID transponder tag ball and a pre-packaged dye; the executing mechanism comprises: a screw conveyor system and a jet acceleration device; the state monitoring unit includes: miniature lidar or ranging sensors.
The trace tracing method after the AUV unpowered fault specifically comprises the following steps:
s1, after an AUV fault is detected by a fault detection module, acquiring attitude, position and speed information by using a sensor in an autonomous detection missing unit, fusing multi-sensor data based on a Kalman filtering algorithm, and outputting an accurate autonomous positioning result.
And S2, establishing a drift model under the unpowered state by utilizing the autonomous positioning information, monitoring the AUV state under the unpowered state in real time, and evaluating the potential search interval.
S3, after the ground station receives the autonomous positioning information generated in the step S1, the communication link detection module starts a communication timeout timer and presets a time threshold T, and if the communication timeout timer exceeds the time threshold T, the communication link detection module does not receive any ground station effect data, then the marker is automatically released; the markers are released manually when the communication link detection module is able to communicate normally.
S4, the intersection platform searches the AUV according to the RFID carried by the marker, the acoustic response signal of the preset frequency band and the image characteristic signal of the pre-packaged dye by combining the potential search interval obtained in the step S2.
S5, positioning and recycling the AUV by using the unmanned aerial vehicle or the manned intersecting ship according to the AUV coordinate position calibrated by the intersecting platform.
Further, the step S1 specifically includes the following steps:
s1.1, establishing a state equation of the AUV in an unpowered state according to a mechanical motion equation:
；
wherein the state vectorIncluding position, speed, acceleration, input vectorZero;is a state transfer function;is process noise.
S1.2, constructing an observation equation, and correlating the state with the sensor data:
；
wherein,for the sensor to observe the vector quantity,in order to observe the function of the object,to measure noise.
S1.3, performing first-order Taylor expansion on the state equation and the observation equation, designing Kalman gain, iteratively optimizing state values and covariance, and eliminating noise errors left by state transition and observation.
Further, the step S2 specifically includes the following steps:
s2.1, establishing a coupled unpowered drift dynamics equation:
；
wherein,is the mass or inertia matrix of the AUV, and represents the mass distribution of the AUV in different directions;drawing the linear velocity and the movement direction of the AUV as the movement velocity vector of the AUV;is a coriolis force matrix;is a damping matrix;is the wave excitation force;is a steady driving force term for ocean currents;is the hydrostatic buoyancy of the AUV body.
S2.2, taking the time stepAccording to the discrete time domain, stepwise advancing by using Taylor expansion:
；
；
after multiple iterations, the speed evolution of the AUV at different moments under the unpowered state is obtainedAnd motion trail evolution。
Further, the step S3 specifically includes the following steps:
s3.1, the communication link detection module starts a communication timeout timer, the preset time length is T, and once autonomous positioning data is sent to the ground station, the timer starts to run.
And S3.2, the main control computer monitors whether any response data sent by the ground station are received.
S3.3, if the timer is ended within the timeout time T, the communication subsystem still does not acquire a valid response of any ground station; or the error rate of the response is below the quality threshold, the communication detection module may determine that the ground station communication link is broken.
And S3.4, after the link is detected to be disconnected, the communication detection module actively transmits a trigger signal to the main control computer, wherein the trigger signal indicates that the ground connection is disconnected, and a marker release system is required to be started.
S3.5, when the communication link is normal, manually determining whether to start the marker release system according to actual requirements during the intersection search.
S3.6, the control unit receives the marker release instruction from the main control computer, the control program is triggered after decoding, the singlechip or the DSP chip outputs PWM signals, the AUV motor controller is driven, and the motor controller outputs driving voltage.
And S3.7, driving the spiral conveying system and the jet accelerating device in the actuating mechanism to operate by driving voltage.
S3.8, conveying the RFID response tag balls or the pre-packaged dyes in the storage unit to an outlet of the jet acceleration device by the spiral conveying system; the jet acceleration device releases the RFID transponder tag ball or pre-packaged dye.
And S3.9, various sensors in the state monitoring unit detect the working state, the outlet state power and the marker quantity information of the actuating mechanism in real time, and feedback codes are transmitted to the control unit to ensure closed-loop control of the release process until the release is completed.
Further, the step S4 specifically includes the following steps:
and S4.1, planning a potential search interval by the ground station according to autonomous positioning information of the AUV, making a route, a search formation and a detection mode of the intersecting platform, and controlling and issuing an execution command to a control station of the intersecting ship and the unmanned aerial vehicle.
S4.2, the intersection platform starts sonar, RFID equipment and an optical camera to search and scan the target potential search interval according to the received command, and the acquired echo signals, RFID tag response and image information multi-source data are transmitted to a control station of the intersection ship and the unmanned aerial vehicle.
And S4.3, after receiving the data of the intersection platform, the ground station utilizes a data analysis module of the ground station to perform fusion identification of multi-source data so as to generate an accurate positioning result of the target.
And S4.4, in the searching process, the ground station and the intersecting ship continuously try to be in communication connection with the AUV through the communication system.
S4.5, once the marker data is locked, the intersection platform marks the target and enters a tracking mode.
S4.6, after receiving the feedback control instruction, starting an accurate positioning program, wherein a sonar depicting module and an RFID identification module of the convergence platform process echo signals and RFID tag responses of the failure AUV, and realizing closed-loop tracking and locking of the target.
The invention has the following beneficial effects:
the method integrates the active release marker and the passive detection method according to the autonomous positioning information of the AUV, realizes the rapid evaluation and accurate tracking of the abnormal AUV state, thereby improving the searching efficiency and recovery success rate of the failed AUV and reducing the consumption of search and rescue resources.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 shows a schematic diagram of an AUV post-failure trajectory tracking system of the present invention.
Fig. 2 shows a schematic diagram of a marker delivery system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An AUV unpowered post-fault trajectory tracking system as shown in fig. 1, comprising: the system comprises a fault detection module, a main control computer, an autonomous detection tracing unit, a data transmission module, a communication link detection module and a marker release system which are sequentially connected in a communication way; further comprises: and the intersection platform is used for manually triggering the marker release system after receiving the information of the communication link detection module. The autonomous detection tracer unit includes: the data acquisition module, the data processing module and the data output module are sequentially connected; the data transmission module comprises: a communication subsystem and a ground station communicatively coupled to each other; the marker release system comprises: the control unit, the storage unit, the actuating mechanism and the state monitoring unit are connected in sequence.
Specifically, as shown in fig. 2, the control unit in the marker release system is a single chip microcomputer or a DSP chip; the memory cell includes: an RFID transponder tag ball and a pre-packaged dye; the executing mechanism comprises: a screw conveyor system and a jet acceleration device; the state monitoring unit includes: miniature lidar or ranging sensors.
The trace tracing method after the AUV unpowered fault specifically comprises the following steps:
s1, after an AUV fault is detected by a fault detection module, acquiring attitude, position and speed information by utilizing a sensor in an autonomous detection missing unit, fusing multi-sensor data based on a Kalman filtering algorithm, and outputting an accurate autonomous positioning result.
The AUV is integrated with various detection devices including detection devices, operation devices, a tracing system, a communication system and the like. The AUV performs underwater environmental operation according to a pre-planned route.
The autonomous detection tracing system consists of an inertial navigation unit, a digital compass, a navigation positioning system, a gesture measuring system and other survey components.
The main control computer in the AUV platform is connected with various sensing control interfaces and monitors the working state of each system in real time, including the power supply condition of equipment, signal response quality and the like. And monitoring the state of the AUV platform in real time.
In order to ensure the reliability of the system, the main control computer also transmits information such as the real-time state of the AUV, the self-diagnosis result and the like to the ground station through the communication system. Therefore, the monitoring management of the whole process of the autonomous detection task of the AUV is realized, and the detection operation is ensured to be stably carried out according to the plan.
The fault detection module of the AUV platform continuously detects the state of each key system, and when the problems such as power loss or mechanical faults exceed a preset threshold value, an abnormal fault signal is sent to the main control computer; and after receiving the fault signal, the main control computer starts the autonomous detection tracing unit. The autonomous detection tracer unit mainly comprises a data acquisition module, a data processing module and a data output module.
The data acquisition module is connected with the digital compass, the inertial measurement unit, the navigation positioning and gesture measurement equipment, and further acquires data including gesture, position, speed and the like.
The inertial measurement unit integrates components such as a laser gyroscope, an MEMS accelerometer and the like, processes the output angular rate and specific force data by utilizing a filtering algorithm, performs attitude calculation, positioning and course determination, and is a core device of AUV navigation. Autonomous positioning is possible even if power is lost.
The digital compass measures the intensity of an environmental magnetic field by using a magnetic sensitive transformer, combines polarized magnet calibration, outputs the accurate attitude angle of the AUV under a geographic coordinate system, and initializes and calibrates other navigation devices.
The data processing module utilizes Kalman filtering algorithm and the like to fuse the original data, eliminates noise errors and improves precision.
And in the data processing module, a Kalman filter (EKF) algorithm is applied to carry out multi-sensor fusion on the original data output by the digital compass and the inertial system.
And S2, establishing a drift model under the unpowered state by utilizing the autonomous positioning information, monitoring the AUV state under the unpowered state in real time, and evaluating the potential search interval.
S3, after the ground station receives the autonomous positioning information generated in the step S1, the communication link detection module starts a communication timeout timer and presets a time threshold T, and if the communication timeout timer exceeds the time threshold T, the communication link detection module does not receive any ground station effect data, then the marker is automatically released; the markers are released manually when the communication link detection module is able to communicate normally.
S4, the intersection platform properly enlarges the area on the basis of the search interval given in the step S2; and then, an acoustic system, RFID reading equipment and an optical camera are started by utilizing platforms such as an unmanned aerial vehicle and an intersecting ship, and various signals emitted by the markers are searched, so that the AUV is quickly and efficiently searched.
S5, according to the AUV coordinate position calibrated by the intersecting platform, the AUV is accurately positioned and recovered by utilizing the intersecting ship.
Specifically, the step S1 specifically includes the steps of:
s1.1, modeling the Kalman filtering based on a state space equation. According to the mechanical motion equation, establishing a state equation of the AUV in the unpowered state:
；
wherein the state vectorIncluding position, velocity, acceleration; input vectorZero;is a state transfer function;is process noise.
S1.2, constructing an observation equation, and correlating the state with the sensor data:
；
wherein,for the sensor to observe the vector quantity,in order to observe the function of the object,to measure noise.
S1.3, the EKF uses the prior state and covariance matrix to perform first-order Taylor expansion on the state equation and the observation equation, and designs Kalman gain, iterative optimization state value and covariance, so that noise errors left by state transition and observation are eliminated.
The EKF can effectively fuse multi-source heterogeneous data containing noise, output uniform position and speed evaluation values with excellent precision, and greatly improve the stability and reliability of autonomous positioning.
The autonomous detection tracer unit mainly plays the functions of data acquisition and autonomous positioning of the existing AUV detection equipment, the systems can still work continuously after the AUV fails, motion parameters including gesture, speed, acceleration and the like are output, the data can be fused, and the approximate motion trend and possible azimuth area after the AUV fails are provided.
The data output module generates a fused data frame and sends the fused data frame to the main control computer through the control bus. The host computer encapsulates the data into packets of the data link layer and transmits the packets to the ground station via the communication subsystem.
When the AUV encounters a power system fault in the task execution, the AUV enters an uncontrolled failure state, and the AUV is mainly influenced by the seawater flow to drift. In order to evaluate the possible search intervals of an AUV, a drift model in its unpowered state needs to be built.
The input data for establishing the model mainly comprises design parameters of an AUV body, such as inertial characteristic parameters of body size, weight distribution, material density and the like; sea area environmental data such as wave parameters, ocean current flow direction flow rate, water temperature salinity, etc.; state data before failure of the AUV, such as orientation, speed, depth, etc. before failure.
Based on the known data, firstly, combining the geometric and mass distribution parameters of the AUV body, and establishing a rigid body dynamics model of the AUV body, wherein the rigid body dynamics model mainly comprises a mass matrix, a damping matrix, a buoyancy item and the like. Then, combining external force items such as wave force, ocean current disturbance force, buoyancy and the like in the ocean environment, and establishing a coupled unpowered drift dynamics equation.
The step S2 specifically comprises the following steps:
s2.1, establishing a coupled unpowered drift dynamics equation:
；
wherein,is the mass or inertia matrix of the AUV, and represents the mass distribution of the AUV in different directions;drawing the linear velocity and the movement direction of the AUV as the movement velocity vector of the AUV;is a coriolis force matrix;is a damping matrix;is the wave excitation force;is a steady driving force term for ocean currents;is the hydrostatic buoyancy of the AUV body.
S2.2, after a complete unpowered dynamic model is established, numerical solution is needed to be carried out. There are commonly used discrete differential formats such as the Euler forward differential method, or the ringe-Kutta method.
Taking a time stepAccording to the discrete time domain, stepwise advancing by using Taylor expansion:
；
；
after multiple iterations, the speed evolution of the AUV at different moments under the unpowered state is obtainedAnd motion trail evolution. The drifting process is completely simulated, and a theoretical basis is provided for analysis of the search area.
Therefore, the real-time monitoring of the failure AUV state is realized through the control flow and the information flow of the autonomous detection data.
Specifically, the step S3 specifically includes the following steps:
s3.1, the communication link detection module starts a communication timeout timer, the preset time length is T, and once autonomous positioning data is sent to the ground station, the timer starts to run.
And S3.2, the main control computer monitors whether any response data sent by the ground station are received.
S3.3, if the timer is ended within the timeout time T, the communication subsystem still does not acquire a valid response of any ground station; or the error rate of the response is below the quality threshold, the communication detection module may determine that the ground station communication link is broken.
And S3.4, after the link is detected to be disconnected, the communication detection module actively transmits a trigger signal to the main control computer, wherein the trigger signal indicates that the ground connection is disconnected, and a marker release system is required to be started. This process is automatically triggered.
S3.5, when the communication link is normal, manually determining whether to start the release of the marker according to the actual situation when searching in the intersection.
S3.6, the control unit receives a marker release instruction from the main control computer, and the marker release instruction can be automatically generated by the main control computer according to self state judgment; or manually issued by the ground station according to the task requirement. After decoding, triggering a control program, outputting a PWM signal by a singlechip or a DSP chip, driving an AUV motor controller, and outputting a driving voltage by the motor controller.
In the marker release system, the storage unit is used for storing various markers, and comprises: an RFID transponder tag ball and a pre-packaged dye; the executing mechanism releases the markers in the storage unit to the outside; the control unit carries out logic control on the working process of the executing mechanism; the state monitoring unit monitors the working state of the executing mechanism in real time and feeds the working state back to the control unit.
In the control unit, a singlechip or a DSP chip runs a control program, receives a trigger instruction and generates a corresponding PWM signal, and simultaneously processes a feedback state to ensure logic closed-loop control. The wiring is through an in-cabin dedicated digital communication bus. The state monitoring unit is connected with an analog or digital sensor in an isolation and amplification mode and is used for sampling the dynamic and static working parameters of the executing mechanism in the whole process.
The state monitoring unit uses the sensor to collect key data such as the working state, the outlet state, the number of markers and the like of the actuating mechanism, ensures closed-loop control of the release process, and can upload all feedback data to a main control computer of the AUV after the feedback data are summarized.
And S3.7, driving the spiral conveying system and the jet accelerating device in the actuating mechanism to operate by driving voltage. The spiral conveying system conveys the markers from the storage bin to the release port through the conveying channel; and an accelerating ejection device is arranged at the release port and used for improving the initial speed of the marker. The screw conveying system and the jet accelerating device are driven by a servo motor and a reduction gear respectively.
S3.8, conveying the RFID response tag balls or the pre-packaged dyes in the storage unit to an outlet of the jet acceleration device by the spiral conveying system; the jet acceleration device drives the RFID response tag ball or the pre-packaged dye release device by the servo motor and the reduction gear respectively. The concrete implementation of the storage unit can be a cylindrical or spherical closed bin, a rigid partition board is arranged in the storage unit, and different types of markers are placed in the space in a partitioning manner; the storage volume and pressure design should take into account the number and configuration of the prepared markers. The conveying device of the actuating mechanism can adopt a spiral conveying system, a speed reducing motor drives a spiral shaft to rotate, so that the marker stably flows, and finally the marker is discharged; the jet acceleration device uses mechanical spring or gas pressure as the energy charge of the marker, which is used for improving the initial speed of the marker, and the micro laser radar or the ranging sensor detects the jet time to realize accurate time sequence control.
And S3.9, various sensors in the state monitoring unit detect the working state, the outlet state power and the marker quantity information of the actuating mechanism in real time, and feedback codes are transmitted to the control unit to ensure closed-loop control of the release process until the release is completed.
Thus, the intelligent and reliable control and management of the marker release subsystem are realized through the flexible trigger control of manual/automatic dual modes and a perfect state feedback monitoring mechanism.
The autonomous detection tracer unit and the marker release system form the tracer system of the invention together, and the autonomous detection tracer unit and the marker release system have close relationship and an organic cooperation mode.
The marker release system is operative to provide primarily external passive positioning beacons. A beacon source such as an RFID response tag or dye is mounted as an external signal source of the search platform.
The failure area information predicted by the autonomous detection tracer unit can provide a rough azimuth for searching; the active signal of the marker can provide more accurate position information for searching and is also an important alternative means for automatically detecting the failure of the tracing unit. The data and functions of the autonomous detection tracing unit and the marker release system realize organic connection and complementary fusion, and jointly improve tracing and positioning accuracy of the failure AUV.
Specifically, step S4 specifically includes the following steps:
and S4.1, planning a potential search interval by the ground station according to autonomous positioning information of the AUV, making a route, a search formation and a detection mode of the intersecting platform, and controlling and issuing an execution command to a control station of the intersecting ship and the unmanned aerial vehicle.
The intersection platform is composed of a search intersection ship and a search unmanned aerial vehicle.
The high-performance acoustic system is integrated on the search meeting ship, and can send out a detection signal in the range of the beam width and receive a return wave signal. By matching the similarity of the received signal to the original signal, the target profile is delineated. Upon receiving a specific acoustic signature of the marker reflection, the acoustic century system will initiate a matching capture mode, enabling a preliminary localization of the AUV. Simultaneously, the RFID reader-writer sends out radio signals, and detects and activates the RFID tag in the marker. The tag will respond to transmitting a signal containing ID information after being excited. The RFID reader measures the beam direction and the signal strength of the response signal, the accurate coordinates of the markers are depicted through distance mapping calculation, reference is provided for the acoustic image, and the positioning accuracy is further improved. Meanwhile, the image analysis module detects the image characteristics of the released dye, also depicts the target position, and mutually verifies with the acoustic coordinates to continuously track the target.
And the search unmanned aerial vehicle is provided with an optical camera, an infrared detector and a marker signal receiver. And the high mobility of the unmanned aerial vehicle is utilized to develop vision and radio detection, so that efficient and rapid search of a target area is realized, and once a marker is found, the intersecting ship can be guided to capture. And the searching unmanned aerial vehicle carries out high-speed aerial scanning of the target area through the airborne optical detector. Once a marker, such as a particular color or shape, is detected in the field of view, the image is captured and the features are calibrated and transmitted to the intersecting ship and ground station. Object positioning data at an air viewing angle is provided. And the mobility of the unmanned aerial vehicle is utilized to continuously track the target, so as to play the role of 'eyes' until the ship only realizes physical capture.
The ground station can also synthesize various information, and performs target allocation and path planning on the unmanned aerial vehicle and the intersecting ship which are cooperatively searched, so that the resource utilization efficiency is improved, and the system cooperativity is enhanced.
S4.2, the intersection platform starts sonar, RFID equipment and an optical camera to search and scan the target potential search interval according to the received command, and the acquired echo signals, RFID tag responses, image information and other multi-source data are transmitted to a control station of the intersection ship and the unmanned aerial vehicle.
And the intersection platform receives the search planning instruction, integrates and dispatches the carrier-borne unmanned aerial vehicle and the intersection boat, starts the active and passive sonar system, the digital RFID capturing system and the image recognition module to the planned priority area, and performs broadband scanning. And the obtained sonar echo map, RFID tag response and target image information are transmitted to a control station of the intersecting ship and the unmanned aerial vehicle. In the work of the search meeting system, the meeting ship and the search unmanned aerial vehicle have close cooperation. An interaction mechanism of the data flow and the control flow is established between the two, and task coordination and information sharing are realized.
In terms of data flow, the ship-borne acoustic century and the photoelectric detector of the unmanned aerial vehicle can continuously scan a sea space, and acquired data such as radar images, sonar echoes, optical videos and the like can be transmitted to a ground station in real time through satellite communication or radio communication.
S4.3, after receiving the data of the intersection platform, the ground station utilizes a data analysis module of the ground station to conduct fusion identification of multi-source data, and a precise positioning result of the target is generated, especially, the combination of the ship-based active radar and the passive detection of the unmanned aerial vehicle can be complemented.
The ground station transmits the fused target information to the intersection platform in a feedback way, and is used for updating and verifying the detection result of the ground station.
In terms of control flow, the ground station can issue control instructions, such as adjusting the route, the view angle and the like, to the intersection platform to uniformly command and coordinate actions of the intersection platform. Direct instruction interaction can be performed between the intersecting platforms, for example, after the unmanned aerial vehicle detects stronger RFID signals, the unmanned aerial vehicle can actively guide the ship to go to the area with stronger signals for capturing.
Therefore, an information interaction network in vertical and horizontal directions is built in the system, the task cooperative efficiency is improved, the accurate locking and positioning capability of the target is enhanced, and the system is an important guarantee for realizing high-reliability closed loop recovery.
Therefore, a sea-air three-dimensional search network is constructed, information flow and interactive control are realized in the system, and AUV can be effectively detected and recovered in a cooperative manner.
And S4.4, in the searching process, the ground station and the intersecting ship continuously try to be in communication connection with the AUV through the communication system.
S4.5, once the marker data is locked, the intersection platform marks the target and enters a tracking mode.
S4.6, after receiving the feedback control instruction, starting an accurate positioning program, wherein a sonar depicting module and an RFID identification module of the convergence platform process echo signals and RFID tag responses of the failure AUV, and realizing closed-loop tracking and locking of the target.
Through the interaction of the control flow and the data flow, the rapid search and closed-loop locking of the failed AUV are completed.
After the sonar and the RFID system of the intersection platform successfully lock the target, the data of the intersection platform accurately draw out a two-dimensional/three-dimensional image of the target, and the coordinate position of the AUV is calibrated. These fine target images and coordinate data are transmitted in real time to the control station of the meeting platform. And the control station plans an optimal intersection route according to the target positioning information, and directs the unmanned aerial vehicle or the manned intersection ship to go to a designated recovery point. And after receiving the meeting instruction of the control station, the recovery execution platform drives to the target point and prepares the mechanical arm or the net bag for physical recovery. Finally, the recovery device fixes the failed AUV, leaves the safety belt of the AUV from the water surface, and completes accurate closed-loop positioning and recovery. And the recovered information is fed back to the control station and reported to the ground command center to complete the search and rescue task. The accurate depiction and efficient search and rescue of the failed AUV are realized through the issuing of control instructions, the execution of feedback closed-loop control flow and the flow of positioning and state data.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (7)
1. An AUV unpowered post-fault trajectory tracking system, comprising: the system comprises a fault detection module, a main control computer, an autonomous detection tracing unit, a data transmission module, a communication link detection module and a marker release system which are sequentially connected in a communication way; further comprises: the intersection platform is used for manually triggering the marker release system after receiving the information of the communication link detection module;
the autonomous detection tracer unit includes: the data acquisition module, the data processing module and the data output module are sequentially connected;
the data transmission module comprises: a communication subsystem and a ground station communicatively coupled to each other;
the marker release system comprises: the control unit, the storage unit, the actuating mechanism and the state monitoring unit are connected in sequence.
2. The AUV unpowered post-fault trajectory tracking system of claim 1, wherein the control unit in the marker release system is a single chip or DSP chip; the memory cell includes: an RFID transponder tag ball and a pre-packaged dye; the executing mechanism comprises: a screw conveyor system and a jet acceleration device; the state monitoring unit includes: miniature lidar or ranging sensors.
3. An AUV unpowered post-fault trajectory tracking method, using the system of claim 1 or 2, comprising the specific steps of:
s1, after an AUV fault is detected by a fault detection module, acquiring attitude, position and speed information by using a sensor in an autonomous detection missing unit, fusing multi-sensor data based on a Kalman filtering algorithm, and outputting an accurate autonomous positioning result;
s2, establishing a drift model under the unpowered state by utilizing the autonomous positioning information, monitoring the AUV state under the unpowered state in real time, and evaluating a potential search interval;
s3, after the ground station receives the autonomous positioning information generated in the step S1, the communication link detection module starts a communication timeout timer and presets a time threshold T, and if the communication timeout timer exceeds the time threshold T, the communication link detection module does not receive any ground station effect data, then the marker is automatically released; when the communication link detection module can normally communicate, the marker is manually released;
s4, the intersection platform searches the AUV according to the RFID carried by the marker, the acoustic response signal of the preset frequency band and the image characteristic signal of the pre-packaged dye by combining the potential search interval obtained in the step S2;
s5, positioning and recycling the AUV by using the unmanned aerial vehicle or the manned intersecting ship according to the AUV coordinate position calibrated by the intersecting platform.
4. The AUV unpowered post-fault trajectory tracking method of claim 3, wherein the step S1 specifically includes the steps of:
s1.1, establishing a state equation of the AUV in an unpowered state according to a mechanical motion equation:
；
wherein the state vectorComprises position, speed and acceleration, and input vector +.>Zero; ->Is a state transition function; ->Is process noise;
s1.2, constructing an observation equation, and correlating the state with the sensor data:
；
wherein,for sensor observation vector, < >>For observing function +.>For measuring noise;
s1.3, performing first-order Taylor expansion on the state equation and the observation equation, designing Kalman gain, iteratively optimizing state values and covariance, and eliminating noise errors left by state transition and observation.
5. The AUV unpowered post-fault trajectory tracking method of claim 4, wherein step S2 specifically includes the steps of:
s2.1, establishing a coupled unpowered drift dynamics equation:
；
wherein,is the mass or inertia matrix of the AUV, and represents the mass distribution of the AUV in different directions; />Drawing the linear velocity and the movement direction of the AUV as the movement velocity vector of the AUV; />Is a coriolis force matrix; />Is a damping matrix; />Is the wave excitation force; />Is a steady driving force term for ocean currents; />The buoyancy of the still water of the AUV body;
s2.2, taking the time stepAccording to the discrete time domain, stepwise advancing by using Taylor expansion:
；
；
after multiple iterations, the speed evolution of the AUV at different moments under the unpowered state is obtainedAnd motion trail evolution。
6. The AUV unpowered post-fault trajectory tracking method of claim 5, wherein step S3 specifically includes the steps of:
s3.1, a communication link detection module starts a communication timeout timer, the preset time length is T, and once autonomous positioning data is sent to a ground station, the timer starts to run;
s3.2, the main control computer monitors whether any response data sent by the ground station is received or not;
s3.3, if the timer is ended within the timeout time T, the communication subsystem still does not acquire a valid response of any ground station; or if the error rate of the response is lower than the quality threshold, the communication detection module judges that the ground station communication link is disconnected;
s3.4, after the link is detected to be disconnected, the communication detection module actively transmits a trigger signal to the main control computer, which indicates that the ground connection is disconnected, and a marker release system needs to be started;
s3.5, when the communication link is normal, manually determining whether to start the marker release system according to actual requirements during the intersection search;
s3.6, the control unit receives a marker release instruction from the main control computer, a control program is triggered after decoding, a singlechip or a DSP chip outputs PWM signals to drive an AUV motor controller, and the motor controller outputs driving voltage;
s3.7, driving the spiral conveying system and the jet acceleration device in the actuating mechanism to operate by driving voltage;
s3.8, conveying the RFID response tag balls or the pre-packaged dyes in the storage unit to an outlet of the jet acceleration device by the spiral conveying system; the jet acceleration device releases the RFID response tag ball or the pre-packaged dye;
and S3.9, various sensors in the state monitoring unit detect the working state, the outlet state power and the marker quantity information of the actuating mechanism in real time, and feedback codes are transmitted to the control unit to ensure closed-loop control of the release process until the release is completed.
7. The AUV unpowered post-fault trajectory tracking method of claim 6, wherein step S4 specifically includes the steps of:
s4.1, planning a potential search interval by the ground station according to autonomous positioning information of the AUV, and making a route, a search formation and a detection mode of the intersecting platform, controlling and issuing an execution command to a control station of the intersecting ship and the unmanned aerial vehicle;
s4.2, the intersection platform starts sonar, RFID equipment and an optical camera to search and scan the target potential search interval according to the received command, and the acquired echo signals, RFID tag response and image information multi-source data are transmitted to a control station of the intersection ship and the unmanned aerial vehicle;
s4.3, after receiving the data of the intersection platform, the ground station utilizes a data analysis module of the ground station to perform fusion identification of multi-source data so as to generate an accurate positioning result of the target;
s4.4, in the searching process, the ground station and the intersecting ship continuously try to be in communication connection with the AUV through a communication system;
s4.5, once the marker data is locked, the intersection platform marks the target and enters a tracking mode;
s4.6, after receiving the feedback control instruction, starting an accurate positioning program, wherein a sonar depicting module and an RFID identification module of the convergence platform process echo signals and RFID tag responses of the failure AUV, and realizing closed-loop tracking and locking of the target.
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