CN110749890A - Multi-underwater robot collaborative ocean current estimation method - Google Patents
Multi-underwater robot collaborative ocean current estimation method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
- G01P5/241—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave by using reflection of acoustical waves, i.e. Doppler-effect
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Abstract
The invention relates to a multi-underwater robot collaborative ocean current estimation method, which comprises the following steps: starting a Doppler velocimeter, an underwater acoustic synchronous communicator, a nonlinear estimation module and a cooperative formation control module; when the information state is that the speed is measured to the bottom, the underwater robot broadcasts the position information to realize the collaborative formation navigation operation; when the information state is convection velocity measurement, entering an estimation discriminator to judge whether ocean current estimation is needed or not; the nonlinear estimation module supports the position and distance information of the mother ship and the position estimation information, ocean current estimation information and distance information of other underwater robots according to the water surface; and integrating the ocean current estimation result and Doppler velocity measurement information, compensating the position error caused by the convection velocity measurement of a Doppler velocity meter, and realizing the position estimation of the underwater robot. The invention can improve the navigation capacity of the multi-underwater robot system in the deep sea area, realize the deep sea navigation without water for a long time and meet the requirements of large-range navigation and operation efficiency.
Description
Technical Field
The invention relates to the field of a multi-underwater robot cooperative positioning method, in particular to the field of a multi-underwater robot cooperative ocean current estimation method.
Background
The positioning information is a necessary condition for realizing autonomous planning and autonomous control of the underwater robot and is an important guarantee for task execution and safe operation of the underwater robot. However, water is a poor conductor of electromagnetic waves, and therefore the commonly used GNSS positioning and navigation methods are not suitable for underwater robots. A Doppler velocimeter (Doppler velocimetry log) is an acoustic device manufactured by using the Doppler effect of sound waves and the flow measurement principle, and can be used for measuring the absolute velocity of a reference sea bottom and the relative velocity of a reference water body of an underwater robot. When the underwater robot can obtain the absolute speed, the positioning precision of not more than 0.5 percent can be realized by combining with the self-carried attitude measuring equipment, and the requirement of a navigation task is met. However, when the underwater robot navigates in the deep sea area, the water depth often exceeds the measurement range of the doppler velocimeter, and at this time, the doppler velocimeter can only obtain the relative velocity of the reference water body, and if the flow velocity information of the water body cannot be obtained, the velocity is diverged by the positioning position.
According to the multi-underwater robot collaborative ocean current estimation method, information interaction and distance measurement between the underwater robot and the supporting mother ship and between the underwater robot and other underwater robots are achieved through the underwater sound synchronous communicator module, the ocean current information is finally estimated, the ocean current information is compensated to the Doppler velocimeter, the observation requirement of absolute speed information is met, and the positioning accuracy of deep sea areas is improved.
Disclosure of Invention
The invention aims to provide a multi-underwater robot collaborative ocean current estimation method to ensure the positioning accuracy of a multi-underwater vehicle in deep sea navigation.
The invention is realized by the following steps:
a multi-underwater robot collaborative ocean current estimation method comprises the following steps:
(1) starting a navigation task, and starting a Doppler velocimeter, an underwater acoustic synchronous communicator, a nonlinear estimation module and a cooperative formation control module;
(2) the Doppler velocimeter feeds back speed information, and when the information state is bottom velocity measurement, the underwater robot broadcasts position information to realize collaborative formation navigation operation;
(3) the method comprises the steps that a Doppler velocimeter feeds back speed information, when the information state is convection velocimetry, an estimation discriminator is used for judging whether ocean current estimation is needed, if yes, an underwater robot broadcasts position information and flow velocity estimation information, a formation cooperative control module starts to perform formation transformation tasks, and otherwise, cooperative formation navigation operation is performed;
(4) after the formation transformation task starts, the nonlinear estimation module realizes the estimation of the ocean current flow velocity by utilizing a factor graph optimization method according to the position and distance information of the water surface support mother ship and the position estimation information, ocean current estimation information and distance information of other underwater robots;
(5) the underwater robot stops the formation transformation task, integrates the ocean current estimation result and Doppler velocity measurement information, compensates the position error caused by the convection velocity measurement of a Doppler velocity meter, and realizes the position estimation of the underwater robot;
(6) and (4) judging whether the navigation task is finished, if so, finishing the process, and otherwise, returning to the step (2).
A multi-underwater robot collaborative ocean current estimation device comprises a Doppler velocimeter module, an underwater acoustic synchronous communicator module, a nonlinear estimation module and a collaborative formation control module; the Doppler velocimeter module has the functions of: the bottom velocity is measured by using a Doppler velocimeter, and when the water depth exceeds the measurement range and the bottom velocity cannot be measured, the mode can be automatically switched into a convection velocity measurement mode; the underwater sound synchronous communicator module has the following functions: the underwater sound synchronous communication machine has a communication range of not less than 3 kilometers in a typical marine environment, has a high-precision crystal oscillator of 1PPM, and simultaneously realizes one-way propagation time ranging on the basis of realizing a communication function; the nonlinear estimation module has the functions of: the optimal estimation of the ocean current speed and position is realized by utilizing the position and distance information of the water surface support mother ship and the position estimation information, ocean current estimation information and distance information of other underwater robots and adopting a factor graph optimization method; the cooperative formation control module has the following functions: and the formation change and the position circulation change of the formation of the underwater robots are realized by utilizing the position information among the underwater robots.
The invention has the beneficial effects that: the invention can improve the navigation capacity of the multi-underwater robot system in the deep sea area, realize the deep sea navigation without water for a long time under the conditions of not excessively increasing the complexity of the system and not greatly improving the equipment cost, and meet the requirements of large-range navigation and operation efficiency. The method has clear logic and simple practice.
Drawings
FIG. 1 is a block diagram of a multi-underwater robot collaborative ocean current estimation system;
FIG. 2 is a schematic view of information broadcast by a multi-underwater robot;
FIG. 3 is a co-estimation method factor graph;
FIG. 4 is a schematic diagram of position cycle formation transformation;
fig. 5 is a flowchart of a co-estimation method.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
A multi-underwater robot collaborative ocean current estimation method comprises a Doppler velocimeter module, an underwater acoustic synchronous communicator module, a nonlinear estimation module and a collaborative formation control module.
The Doppler velocimeter module is characterized in that a Doppler velocimeter (120kHz) measures a typical seabed within a range of about 300-400 meters, and when the water depth exceeds the measuring range and the bottom velocity cannot be measured, the Doppler velocimeter module can be automatically switched to a convection velocity measurement mode.
The underwater sound synchronous communicator module comprises: the underwater sound synchronous communication machine has a communication range not less than 3km under a typical marine environment, has a high-precision crystal oscillator of 1PPM, and can realize One-Way propagation time (One Way travel time) ranging on the basis of realizing a communication function.
A non-linear estimation module: and the optimal estimation of the speed and the position of the ocean current is realized by utilizing the position and the distance information of the water surface support mother ship and the position estimation information, the ocean current estimation information and the distance information of other underwater robots and adopting a factor graph optimization method.
The cooperative formation control module: the position information among the underwater robots is utilized to realize the formation and formation transformation of the underwater robots, and the position cyclic transformation is mainly referred to in the patent.
A multi-underwater robot collaborative ocean current estimation method comprises the following steps:
1. starting a navigation task, and starting a Doppler velocimeter, an underwater acoustic synchronous communicator, a nonlinear estimation module and a cooperative formation control module;
2. the Doppler velocimeter feeds back speed information, and when the information state is bottom velocity measurement, the underwater robot broadcasts position information to realize collaborative formation navigation operation;
3. the method comprises the steps that a Doppler velocimeter feeds back speed information, when the information state is convection velocimetry, an estimation discriminator is used for judging whether ocean current estimation is needed, if yes, an underwater robot broadcasts position information and flow velocity estimation information, a formation cooperative control module starts to perform formation transformation tasks, and otherwise, cooperative formation navigation operation is performed;
4. after the formation transformation task starts, the nonlinear estimation module realizes the estimation of the ocean current flow velocity by utilizing a factor graph optimization method according to the position and distance information of the water surface support mother ship and the position estimation information, ocean current estimation information and distance information of other underwater robots;
5. the underwater robot stops the formation transformation task, integrates the ocean current estimation result and Doppler velocity measurement information, compensates the position error caused by the convection velocity measurement of a Doppler velocity meter, and realizes the position estimation of the underwater robot;
6. and (4) judging whether the navigation task is finished, if so, finishing the process, and otherwise, returning to the step (2).
The invention is further described as follows:
a multi-underwater robot collaborative ocean current estimation method comprises a Doppler velocimeter module, an underwater acoustic synchronous communicator module, a nonlinear estimation module and a collaborative formation control module.
The underwater sound synchronous communication machine is provided with a 1PPM high-precision clock, and can utilize one-way propagation time to obtain communication information and simultaneously realize measurement of space distances between a mother ship and the underwater robot and between the mother ship and the underwater robot.
The mother ship broadcasts self position information to the multi-underwater robots, the multi-underwater robots broadcast position estimation information and ocean current estimation information, and the broadcast information realizes time division according to fixed time intervals.
Simple formation transformation is realized through the cooperative formation control module, so that the observability of the nonlinear estimation module can be guaranteed, and the optimal estimation of ocean currents and positions is completed.
The nonlinear estimation module realizes mathematical abstraction of the multi-underwater robot collaborative ocean current estimation problem by utilizing the factor graph, and completes optimal estimation of ocean current and position.
With reference to fig. 1, the structure of the multi-underwater robot collaborative ocean current estimation system is as follows:
as shown in fig. 1, the multi-underwater robot collaborative ocean current estimation system structure includes a doppler velocimeter module, an underwater acoustic synchronous communicator module, a nonlinear estimation module, and a collaborative formation control module, and by using the underwater acoustic synchronous communicator, the underwater robot uses an underwater acoustic channel to broadcast and support mother ship position information, ocean current velocity estimation information, and robot position estimation information under the condition that the underwater robot cannot obtain the bottom velocity measurement, and the nonlinear estimation module is used to realize the optimal estimation of the ocean current and the self position.
With reference to fig. 2, a method for broadcasting information of a multi-underwater robot is described:
supposing that m underwater robots are arranged, the delta T is the period of sending information by all units in the system, and the mother ship is supported to send self position information P at the integral information broadcasting time point k delta Tsv(k.DELTA.T) in
At the time point, the ith underwater robot sends self position information Xauvi(k Δ T) and ocean current estimation information Cauvi(kΔT)。
With reference to fig. 3 and 4, the underwater robot ocean current estimation method is represented as follows:
as shown in FIG. 3, to simplify the complexity of the factor graph, an estimation method of two underwater robots is taken as an example，Representing the position estimate at the moment of the ith robot k,
representing the current velocity estimate at time k for the ith robot,representing the position information of the supporting parent vessel, and the black solid points represent the factor relationship between the variables, i.e. the error between the observation and the prediction.
As shown in fig. 4, the formation transformation strategy of the multi-underwater robot during ocean current estimation is a position cycle formation transformation method, that is, the multi-underwater robot cyclically exchanges the coordinate positions in the formation according to the clockwise or counterclockwise direction.
With reference to fig. 5, an algorithm flow of the multi-underwater-robot ocean current estimation method is introduced:
starting a navigation task, and starting a Doppler velocimeter, an underwater acoustic synchronous communicator, a nonlinear estimation module and a cooperative formation control module;
the Doppler velocimeter feeds back speed information, and when the information state is bottom speed measurement, the underwater robot broadcasts position information to realize collaborative formation navigation operation;
feeding back speed information by a puler velocimeter, entering an estimation discriminator to evaluate whether ocean current estimation is needed or not when the information state is convection velocimetry, broadcasting position information and flow velocity estimation information by an underwater robot if the ocean current estimation is needed, and starting a formation transformation task by a cooperative formation control module, otherwise, carrying out cooperative formation navigation operation;
after the formation transformation task starts, the nonlinear estimation module realizes the estimation of the ocean current flow velocity by utilizing a factor graph optimization method according to the position and distance information of the water surface support mother ship and the position estimation information, ocean current estimation information and distance information of other underwater robots;
the underwater robot stops the formation transformation task, integrates the ocean current estimation result and Doppler velocity measurement information, compensates the position error caused by the convection velocity measurement of a Doppler velocity meter, and realizes the position estimation of the underwater robot;
and (4) judging whether the navigation task is finished, if so, finishing the process, and otherwise, returning to the step (2).
In summary, the invention discloses a multi-underwater robot collaborative ocean current estimation method, which comprises a doppler velocimeter module, an underwater acoustic synchronous communicator module, a nonlinear estimation module and a collaborative formation control module. In the deep sea navigation process of the underwater robot system, the multi-underwater robot obtains the position information of a water surface support mother ship by using the underwater sound synchronous communicator module, obtains the distance information of the multi-underwater robot and the support mother ship according to the clock synchronous information, and estimates the flow velocity of the ocean current through the nonlinear estimation module on the basis that the Doppler velocimeter module obtains the convection velocimetry information by combining the ocean current estimation information, the position estimation information and the distance information of other underwater robots. Meanwhile, the formation transformation of the multi-underwater robot system is realized through the cooperative formation control module, and the observability in the estimation process is guaranteed. The invention can ensure that the multi-underwater robot can still keep enough positioning precision in the navigation process of the deep sea area, and meets the operation requirement of the multi-underwater robot system on large-scale navigation.
Claims (2)
1. A multi-underwater robot collaborative ocean current estimation method is characterized by comprising the following steps: the method comprises the following steps:
(1) starting a navigation task, and starting a Doppler velocimeter, an underwater acoustic synchronous communicator, a nonlinear estimation module and a cooperative formation control module;
(2) the Doppler velocimeter feeds back speed information, and when the information state is bottom velocity measurement, the underwater robot broadcasts position information to realize collaborative formation navigation operation;
(3) the method comprises the steps that a Doppler velocimeter feeds back speed information, when the information state is convection velocimetry, an estimation discriminator is used for judging whether ocean current estimation is needed, if yes, an underwater robot broadcasts position information and flow velocity estimation information, a formation cooperative control module starts to perform formation transformation tasks, and otherwise, cooperative formation navigation operation is performed;
(4) after the formation transformation task starts, the nonlinear estimation module realizes the estimation of the ocean current flow velocity by utilizing a factor graph optimization method according to the position and distance information of the water surface support mother ship and the position estimation information, ocean current estimation information and distance information of other underwater robots;
(5) the underwater robot stops the formation transformation task, integrates the ocean current estimation result and Doppler velocity measurement information, compensates the position error caused by the convection velocity measurement of a Doppler velocity meter, and realizes the position estimation of the underwater robot;
(6) and (4) judging whether the navigation task is finished, if so, finishing the process, and otherwise, returning to the step (2).
2. A multi-underwater robot collaborative ocean current estimation device is characterized in that: the device comprises a Doppler velocimeter module, an underwater acoustic synchronous communicator module, a nonlinear estimation module and a cooperative formation control module; the Doppler velocimeter module has the functions of: the bottom velocity is measured by using a Doppler velocimeter, and when the water depth exceeds the measurement range and the bottom velocity cannot be measured, the mode can be automatically switched into a convection velocity measurement mode; the underwater sound synchronous communicator module has the following functions: the underwater sound synchronous communication machine has a communication range of not less than 3 kilometers in a typical marine environment, has a high-precision crystal oscillator of 1PPM, and simultaneously realizes one-way propagation time ranging on the basis of realizing a communication function; the nonlinear estimation module has the functions of: the optimal estimation of the ocean current speed and position is realized by utilizing the position and distance information of the water surface support mother ship and the position estimation information, ocean current estimation information and distance information of other underwater robots and adopting a factor graph optimization method; the cooperative formation control module has the following functions: and the formation change and the position circulation change of the formation of the underwater robots are realized by utilizing the position information among the underwater robots.
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| CN115236356A (en) * | 2022-06-28 | 2022-10-25 | 中国海洋大学 | Method for measuring absolute flow velocity of ocean current based on time-frequency synchronization |
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