CN107817806A - A kind of horizontal path calculation method that subsurface buoy is independently docked for AUV - Google Patents
A kind of horizontal path calculation method that subsurface buoy is independently docked for AUV Download PDFInfo
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- CN107817806A CN107817806A CN201711061258.2A CN201711061258A CN107817806A CN 107817806 A CN107817806 A CN 107817806A CN 201711061258 A CN201711061258 A CN 201711061258A CN 107817806 A CN107817806 A CN 107817806A
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- 238000001514 detection method Methods 0.000 claims description 4
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 238000003032 molecular docking Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000002045 lasting effect Effects 0.000 description 2
- 241001620634 Roger Species 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
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- 239000004744 fabric Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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Abstract
The invention provides a kind of horizontal path calculation method that subsurface buoy is independently docked for AUV, it is related to submarine navigation device field, course angle information of the subsurface buoy with respect to AUV that the present invention detects according to sonic transducer, navigate by water to obtain directional command using tracking normal direction subsurface buoy, after one learns subsurface buoy direction of angulations, according to AUV relative to situation residing for subsurface buoy, determine AUV course adjustment region, according to course adjustment region, directional command corresponding to execution, course angle information of the subsurface buoy with respect to AUV detected according to sonic transducer, using tracking normal direction subsurface buoy navigation, until AUV completes to dock with subsurface buoy；Of the invention this is segmented the technical scheme segmented as a result of air route, has considered AUV detectivities and navigation performance, and flow is simply clear and definite, realization easy to control, preferably resolves the routeing technical problem that AUV independently docks subsurface buoy under water.
Description
Technical field
The present invention relates to submarine navigation device field, especially a kind of horizontal docking air route calculation method.
Background technology
Subsurface buoy be it is a kind of can lie in the detecting devices in seabed by anchor for a long time, can cloth be placed on sensitive sea, long term monitoring is collected attached
Passing foreign target information of coastal waters condition information, hidden detection etc..Under conditions of subsurface buoy positional information is not exposed, periodically or
The irregularly data of extraction subsurface buoy storage, AUV (Autonomous Underwater Vehicle, nobody autonomous water can be passed through
Lower ROV) docked with subsurface buoy and realize data transfer.
AUV is the UAV navigation for having certain capacity of will, generally use afterbody fin rudder and propeller layout
Manipulation form, wherein, propeller is used to provide AUV sail thrusts, fin rudder be used to manipulating AUV climb in vertical plane, dive and
Horizontal plane adjusts course.Independently to be AUV detect subsurface buoy orientation to AUV according to the sonic transducer that itself is carried for docking, and from homophony
Whole course, the final docking operation realized with subsurface buoy.The docking operation of AUV and subsurface buoy does not require nothing more than AUV autonomous navigations to subsurface buoy
Near, also require that AUV its longitudinal axis and opening direction of subsurface buoy in docking are in parastate, usual sonic transducer is under water
Investigative range into sector shape, and detection range farther out when can only make a processing to subsurface buoy, it is impossible to differentiate subsurface buoy opening direction.
The content of the invention
For overcome the deficiencies in the prior art, the invention provides the horizontal path resolving that a kind of AUV independently docks subsurface buoy
Method, it is the method that the resolving of its horizontal path is determined according to AUV detectivities and navigation performance, is specifically that one kind is applied to tail
The level that portion's fin rudder accurately guides with the AUV fixed point orientations that propeller is laid out docks air route calculation method.
The detailed step of the technical solution adopted for the present invention to solve the technical problems is as follows：
Step 1：Course angle information of the subsurface buoy with respect to AUV detected according to sonic transducer, AUV are dived using tracking normal direction
Mark navigation, directional command are as follows：
ψ '=ψ+Δ q (1)
In formula (1), the AUV directional commands of ψ ' expressions future time step, the AUV course angles that ψ walks for current time, Δ q tables
Show angle of the subsurface buoy with respect to the AUV longitudinal axis；
AUV is according to the close subsurface buoy of formula (1) instruction, until being less than L away from subsurface buoy distance1When, two are gone to step, wherein, L1For AUV
Sonic transducer it is distinguishable go out subsurface buoy direction of angulations maximum range value；
Step 2：AUV is after step 1 learns subsurface buoy direction of angulations, according to AUV relative to situation residing for subsurface buoy, it is determined that
AUV course adjustment region, specific decision principle are as follows：
Wherein,
In formula (2) and (3), Δ ψ represents AUV relative to the horizontal situation of subsurface buoy direction of angulations, ψ1Represent that AUV is in phase
To the boundary value in region, ψ2Represent that AUV is in the boundary value backwards to region, ψHSubsurface buoy direction of angulations is represented, Q represents that AUV sound passes
Sensor investigative range sector angle, q1Represent the minimum advance angle of AUV collision free subsurface buoys, L2Represent to ensure that AUV can realize and dive
The most short straight line distance accurately docked is marked, R represents the AUV radius of gyration, and v represents the AUV speed of a ship or plane, and T represents AUV single behaviour
The rudder time cycle；
Step 3：According to the course adjustment region residing for the AUV judged in step 2, directional command corresponding to execution, tool
The corresponding three kinds of situations of body：
(1) when AUV is in opposite region, corresponding directional command is as follows：
Wherein, ψ1' represent directional command corresponding to opposite region；Δt1Represent ψ1The duration of ' directional command, AUV
The directional command defined by formula (4) performs time Δ t1Afterwards, that is, step 4 is switched to；
(2) when AUV is in side zones, corresponding directional command is as follows：
Wherein, ψ21' represent first time directional command corresponding to side zones；Δt21Represent ψ21' directional command it is lasting when
Between；
The directional command that AUV is defined by formula (6) performs time Δ t21Afterwards, it is as follows to switch to execution directional command：
Wherein, ψ22' second of directional command corresponding to side zones is represented, AUV presses formula (8) directional command by course angle ψ
It is adjusted to ψ22' after, go to step 4；
(3) when AUV is in backwards to region, corresponding directional command is as follows：
ψ31'=ψ+sign (Δ ψ) q1 (9)
The directional command that AUV is defined by formula (9) performs time Δ t31Afterwards, it is as follows to switch to execution directional command：
ψ32'=ψH (11)
The directional command that AUV is defined by formula (11) performs time Δ t32Afterwards, it is as follows to switch to execution directional command：
ψ33'=- ψH (13)
Course angle ψ is adjusted to ψ by AUV by formula (13) directional command33' after, go to step 4；
Step 4：Course angle information of the subsurface buoy with respect to AUV detected according to sonic transducer, AUV are dived using tracking normal direction
Mark navigation, the same formula of directional command (1), until AUV completes to dock with subsurface buoy.
Beneficial effects of the present invention are segmented the technical scheme of subdivision as a result of air route, have considered AUV detection energy
Power and navigation performance, flow is simply clear and definite, realization easy to control, preferably resolves the air route rule that AUV independently docks subsurface buoy under water
Draw technical problem.
Embodiment
Below with embodiment, the present invention is further described.
AUV is independently docked the horizontal path of subsurface buoy and is divided into three phases by the present invention, by relative subsurface buoy distance by remote and
Closely, the execution time has first is specifically divided into after：Fixed point tracking stage, full situation course adjusting stage and accurately dock the stage.Its
In, in the fixed point tracking stage, AUV is distant with subsurface buoy, and its detectivity is only capable of identifying that subsurface buoy is point target, can not recognize latent
Opening direction is marked, as AUV is constantly to subsurface buoy approaching, it, which detects recognition capability, gradually strengthens, and the stage switchs to full situation course
The mark of adjusting stage is its detectivity roger subsurface buoy opening direction；Full situation course adjusting stage, AUV rogers are dived
Opening direction is marked, it is different relative to the situation of subsurface buoy according to AUV, it particularly may be divided into the different course adjustment region of three classes：In opposite directions
Region, side zones and backwards to region, each region corresponds to a kind of course method of adjustment, and its effect is that AUV is adjusted into subsurface buoy
Be open course, and the stage course method of adjustment switchs to the accurate docking stage after having performed；Accurate docking stage, AUV have been adjusted
To subsurface buoy opening direction, subsurface buoy is driven into according to back tracking method, can both complete to dock.
The present invention determines that AUV independently docks the directional command in different air route stages residing for subsurface buoy process.
The detailed step of the present invention is as follows：
Step 1：Course angle information of the subsurface buoy with respect to AUV detected according to sonic transducer, AUV are dived using tracking normal direction
Mark navigation, directional command are as follows：
ψ '=ψ+Δ q (1)
In formula (1), the AUV directional commands of ψ ' expressions future time step, the AUV course angles that ψ walks for current time, Δ q tables
Show angle of the subsurface buoy with respect to the AUV longitudinal axis；
AUV is according to the close subsurface buoy of formula (1) instruction, until being less than L away from subsurface buoy distance1When, two are gone to step, wherein, L1For AUV
Sonic transducer it is distinguishable go out subsurface buoy direction of angulations maximum range value；
Step 2：AUV is after step 1 learns subsurface buoy direction of angulations, according to AUV relative to situation residing for subsurface buoy, it is determined that
AUV course adjustment region, specific decision principle are as follows：
Wherein,
In formula (2) and (3), Δ ψ represents AUV relative to the horizontal situation of subsurface buoy direction of angulations, ψ1Represent that AUV is in phase
To the boundary value in region, ψ2Represent that AUV is in the boundary value backwards to region, ψHSubsurface buoy direction of angulations is represented, Q represents that AUV sound passes
Sensor investigative range sector angle, q1Represent the minimum advance angle of AUV collision free subsurface buoys, L2Represent to ensure that AUV can realize and dive
The most short straight line distance accurately docked is marked, R represents the AUV radius of gyration, and v represents the AUV speed of a ship or plane, and T represents AUV single behaviour
The rudder time cycle；
Step 3：According to the course adjustment region residing for the AUV judged in step 2, directional command corresponding to execution, tool
The corresponding three kinds of situations of body：
(1) when AUV is in opposite region, corresponding directional command is as follows：
Wherein, ψ1' represent directional command corresponding to opposite region；Δt1Represent ψ1The duration of ' directional command, AUV
The directional command defined by formula (4) performs time Δ t1Afterwards, that is, step 4 is switched to；
(2) when AUV is in side zones, corresponding directional command is as follows：
Wherein, ψ21' represent first time directional command corresponding to side zones；Δt21Represent ψ21' directional command it is lasting when
Between；
The directional command that AUV is defined by formula (6) performs time Δ t21Afterwards, it is as follows to switch to execution directional command：
Wherein, ψ22' second of directional command corresponding to side zones is represented, AUV presses formula (8) directional command by course angle ψ
It is adjusted to ψ22' after, go to step 4；
(3) when AUV is in backwards to region, corresponding directional command is as follows：
ψ31'=ψ+sign (Δ ψ) q1 (9)
The directional command that AUV is defined by formula (9) performs time Δ t31Afterwards, it is as follows to switch to execution directional command：
ψ32'=ψH (11)
The directional command that AUV is defined by formula (11) performs time Δ t32Afterwards, it is as follows to switch to execution directional command：
ψ33'=- ψH (13)
Course angle ψ is adjusted to ψ by AUV by formula (13) directional command33' after, go to step 4；
Step 4：Course angle information of the subsurface buoy with respect to AUV detected according to sonic transducer, AUV are dived using tracking normal direction
Mark navigation, the same formula of directional command (1), until AUV completes to dock with subsurface buoy.
Claims (1)
1. a kind of horizontal path calculation method that subsurface buoy is independently docked for AUV, it is characterised in that comprise the steps：
Step 1：Course angle information of the subsurface buoy with respect to AUV detected according to sonic transducer, AUV is using tracking normal direction subsurface buoy boat
OK, directional command is as follows：
ψ '=ψ+Δ q (1)
In formula (1), the AUV directional commands of ψ ' expressions future time step, ψ is the AUV course angles of current time step, and Δ q represents latent
The angle of the relative AUV longitudinal axis of mark；
AUV is according to the close subsurface buoy of formula (1) instruction, until being less than L away from subsurface buoy distance1When, two are gone to step, wherein, L1Passed for AUV sound
Sensor it is distinguishable go out subsurface buoy direction of angulations maximum range value；
Step 2：AUV, according to AUV relative to situation residing for subsurface buoy, determines AUV's after step 1 learns subsurface buoy direction of angulations
Course adjustment region, specific decision principle are as follows：
Wherein,
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In formula (2) and (3), Δ ψ represents AUV relative to the horizontal situation of subsurface buoy direction of angulations, ψ1Represent that AUV is in opposite region
Boundary value, ψ2Represent that AUV is in the boundary value backwards to region, ψHSubsurface buoy direction of angulations is represented, Q represents the detection of AUV sonic transducers
Scope sector angle, q1Represent the minimum advance angle of AUV collision free subsurface buoys, L2Represent that ensure that AUV can realize accurately docks with subsurface buoy
Most short straight line distance, R represent AUV the radius of gyration, v represent AUV the speed of a ship or plane, T represent AUV the single steering time cycle；
Step 3：According to the course adjustment region residing for the AUV judged in step 2, directional command corresponding to execution is specific right
Answer three kinds of situations：
(1) when AUV is in opposite region, corresponding directional command is as follows：
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Wherein, ψ1' represent directional command corresponding to opposite region；Δt1Represent ψ1The duration of ' directional command, AUV press formula
(4) directional command defined performs time Δ t1Afterwards, that is, step 4 is switched to；
(2) when AUV is in side zones, corresponding directional command is as follows：
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Wherein, ψ21' represent first time directional command corresponding to side zones；Δt21Represent ψ21The duration of ' directional command；
The directional command that AUV is defined by formula (6) performs time Δ t21Afterwards, it is as follows to switch to execution directional command：
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Wherein, ψ22' second of directional command corresponding to side zones is represented, AUV is adjusted course angle ψ by formula (8) directional command
To ψ22' after, go to step 4；
(3) when AUV is in backwards to region, corresponding directional command is as follows：
ψ31'=ψ+sign (Δ ψ) q1 (9)
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</mrow>
</mrow>
The directional command that AUV is defined by formula (9) performs time Δ t31Afterwards, it is as follows to switch to execution directional command：
ψ32'=ψH (11)
<mrow>
<msub>
<mi>&Delta;t</mi>
<mn>32</mn>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>L</mi>
<mn>2</mn>
</msub>
<mi>v</mi>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>12</mn>
<mo>)</mo>
</mrow>
</mrow>
The directional command that AUV is defined by formula (11) performs time Δ t32Afterwards, it is as follows to switch to execution directional command：
ψ33'=- ψH (13)
Course angle ψ is adjusted to ψ by AUV by formula (13) directional command33' after, go to step 4；
Step 4：Course angle information of the subsurface buoy with respect to AUV detected according to sonic transducer, AUV is using tracking normal direction subsurface buoy boat
OK, the same formula of directional command (1), until AUV completes to dock with subsurface buoy.
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