CN110989637A - Docking guiding method for underwater vehicle - Google Patents
Docking guiding method for underwater vehicle Download PDFInfo
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Abstract
The invention discloses an underwater vehicle docking guiding method, which comprises the following steps: at least two transmitting transducers arranged on the docking platform transmit mutually orthogonal guide signals at a first moment and receive response signals sent by a guided aircraft after receiving the guide signals; the docking platform transmits mutually orthogonal guide signals again according to the received response signals, and calculates the distance between the guided aircraft and the docking platform; the guided aircraft calculates the distance and/or included angle of the guided aircraft relative to the docking platform according to the guide signals received twice, adjusts the posture and/or speed of the guided aircraft to approach the docking platform according to the distance and/or included angle, and sends a response signal; repeating the steps until the guided aircraft reaches the docking platform; the invention effectively solves the problem of bidirectional positioning of the guided aircraft and the docking platform in the docking process; the unmanned aircraft can obtain the position and the accurate docking direction of the docking platform without installing a high-precision course sensor, and the docking speed and the precision are high.
Description
Technical Field
The invention belongs to the technical field of navigation of unmanned vehicles, and particularly relates to an underwater vehicle docking guiding method.
Background
The unmanned underwater vehicle is a hot spot of current naval equipment development, is mainly used for completing various underwater tasks, and has shown self superiority in the fields of rescue, scientific investigation, search and the like. With the development of artificial intelligence technology, unmanned aircrafts are more and more widely used and are influenced by other factors such as energy sources, and after running for a period of time, the unmanned aircrafts need to run to a docking platform for autonomous charging, data uploading and the like; this involves docking guidance techniques between the docking platform and the unmanned vehicle.
Currently, the docking guidance usually adopts an ultra-short baseline or an optical guidance technology. When the ultra-short baseline is adopted for guiding, if the ultra-short baseline is installed on the docking platform, the unmanned aircraft cannot obtain the position of the unmanned aircraft in real time, and the docking platform needs to send position information to the unmanned aircraft in an underwater communication mode, so that the docking time is long, and the precision is low; if the ultra-short baseline is installed on the unmanned aircraft, firstly, the ultra-short baseline has large volume and inevitably causes adverse effect on the running of the unmanned aircraft; in addition, the unmanned aircraft can only obtain the position of the docking platform, but cannot obtain the accurate docking direction, and a high-precision course sensor is additionally adopted; ultrashort baseline guidance cannot be applied to docking on a motion platform; the optical guiding technology is used for guiding by imaging an optical instrument underwater, and the underwater optical instrument has a limited working distance, so the optical guiding technology is only suitable for short-distance guiding, and in addition, factors such as biological adhesion influence the service life of the underwater optical instrument.
Disclosure of Invention
Aiming at least one defect or improvement requirement in the prior art, the invention provides an underwater vehicle docking guiding method, wherein a docking platform transmits mutually orthogonal guiding signals and receives response signals sent by a guided vehicle after receiving the guiding signals; emitting mutually orthogonal guide signals again according to the received response signals, and calculating the distance between the guided aircraft and the guided aircraft; the problem of bidirectional positioning of a guided aircraft and a docking platform in the docking process is effectively solved, and distance measurement is realized; the guided aircraft calculates the distance and/or included angle of the guided aircraft relative to the docking platform according to the received guide signal, and adjusts the posture and/or speed of the guided aircraft to approach the docking platform according to the distance and/or included angle; the unmanned aircraft can obtain the position and the accurate docking direction of the docking platform without installing a high-precision course sensor, and the docking speed and the precision are high.
To achieve the above object, according to one aspect of the present invention, there is provided an underwater vehicle docking guidance method, including:
s1: at least two transmitting transducers arranged on the docking platform transmit mutually orthogonal guide signals and receive response signals sent by a guided aircraft after receiving the guide signals;
s2: after receiving the response signal, the docking platform controls the transmitting transducer to transmit mutually orthogonal guide signals again, and calculates the distance between the guided aircraft and the docking platform;
s3: the guided aircraft sends a response signal after receiving the guide signal, calculates the distance and/or included angle of the guided aircraft relative to the docking platform according to the guide signal received twice, and adjusts the posture and/or speed of the guided aircraft to approach the docking platform according to the distance and/or included angle;
s4: steps S2-S3 are repeated until the guided vehicle reaches the docking platform.
Preferably, in the underwater vehicle docking guidance method, the guided vehicle receives guidance signals sent by at least two transmitting transducers on the docking platform through one receiving transducer, and calculates the position of the guided vehicle relative to the docking platform according to the propagation delay difference or the phase difference between the at least two guidance signals.
Preferably, in the underwater vehicle docking guidance method, the guided vehicle includes a receiving array formed by at least two receiving transducers, and an included angle of an incoming wave direction of the docking platform deviating from a normal direction of the receiving array is calculated according to a time delay difference between guiding signals received by the receiving array and sent by the same transmitting transducer on the docking platform.
Preferably, according to the underwater vehicle docking guidance method, when the included angle is not zero, the guided vehicle is controlled to change the heading so as to make the guided vehicle travel straight after the included angle is zero.
Preferably, in the underwater vehicle docking guidance method, the docking platform delays the sending of the guidance signal for a first preset time after receiving the response signal sent by the guided vehicle.
Preferably, in the underwater vehicle docking guidance method, the guided vehicle prolongs the second preset time after receiving the guidance signal sent by the docking platform and sends the response signal.
Preferably, in the underwater vehicle docking guidance method, the transmitting transducer and the receiving transducer are separately or commonly used for transceiving.
Preferably, in the underwater vehicle docking guidance method, the docking platform is a moving platform or a fixed platform arranged on the seabed.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
the invention provides an underwater vehicle docking guidance method.A docking platform transmits mutually orthogonal guidance signals and receives response signals sent by a guided vehicle after receiving the guidance signals; emitting mutually orthogonal guide signals again according to the received response signals, and calculating the distance between the guided aircraft and the guided aircraft; the problem of bidirectional positioning of a guided aircraft and a docking platform in the docking process is effectively solved, and distance measurement is realized; the guided aircraft calculates the distance and/or included angle of the guided aircraft relative to the docking platform according to the received guide signal, and adjusts the posture and/or speed of the guided aircraft to approach the docking platform according to the distance and/or included angle; the unmanned aircraft can obtain the position and the accurate docking direction of the docking platform without installing a high-precision course sensor, and the docking speed and the precision are high.
Drawings
Fig. 1 is a flowchart of an underwater vehicle docking guidance method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the structural components of the docking platform and guided vehicle provided by the embodiments of the present invention;
FIG. 3 is a diagram of an arrangement of transducers on a guided vehicle provided by an embodiment of the present invention;
FIG. 4 is a coordinate system of four transducers on a docking platform created when performing position solution as provided by an embodiment of the present invention;
FIG. 5 is a coordinate system of four receiving transducers on a guided aircraft created when performing angle solution as provided by an embodiment of the present invention;
in all the figures, the same reference numerals denote the same features, in particular: 1-a guided vehicle; 101-a transducer array; 102-a power amplifier; 103-a signal source; 104-a receiver; 1011. 1012, 1013, 1014-receiving transducer; 1015-a transmitting transducer; 2-docking the platform; 202-a control circuit; 2011. 2012, 2013, 2014-transducer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a flow chart of an underwater vehicle docking guidance method provided by the present invention, referring to fig. 1, the method includes the following steps:
s1: at least two transmitting transducers arranged on the docking platform transmit mutually orthogonal guide signals and receive response signals sent by a guided aircraft after receiving the guide signals;
s2: after receiving the response signal, the docking platform controls the transmitting transducer to transmit mutually orthogonal guide signals again, and calculates the distance between the guided aircraft and the docking platform;
s3: the guided aircraft sends a response signal after receiving the guide signal, calculates the distance and/or included angle of the guided aircraft relative to the docking platform according to the guide signal received twice, and adjusts the posture and/or speed of the guided aircraft to approach the docking platform according to the distance and/or included angle;
wherein the distance of the guided vehicle relative to the docking platform is calculated by: and receiving the guide signals sent by at least two transmitting transducers on the docking platform by guiding one receiving transducer on the aircraft, and calculating the position of the aircraft relative to the docking platform according to the propagation delay difference or phase difference between the at least two guide signals.
The included angle of the guided vehicle relative to the docking platform is calculated as follows: the guided aircraft comprises a receiving array consisting of at least two receiving transducers, an included angle of the incoming wave direction of the docking platform deviating from the normal direction of the receiving array is calculated according to the time delay difference between the receiving array and the guiding signal sent by the same transmitting transducer on the docking platform, and a more optimal running route of the guided aircraft is calculated according to the included angle; specifically, when the included angle is not zero, the guided vehicle is controlled to change the course so that the included angle is zero, and at the moment, the guided vehicle can realize docking only by straight navigation.
S4: steps S2-S3 are repeated until the guided vehicle reaches the docking platform.
Further, after receiving a response signal sent by the guided aircraft, the docking platform delays for a first preset time to send a guide signal; the guided aircraft prolongs the second preset time and sends a response signal after receiving the guide signal sent by the docking platform; the setting of the delay time can effectively prevent repeated false triggering.
Further, the transmitting transducer and the receiving transducer on the docking platform and the guided vehicle can be separately used for transmitting and receiving, and can also be used for transmitting and receiving.
Further, the docking platform may be a moving platform or a fixed platform disposed on the seabed.
The underwater vehicle docking guidance method provided by the invention is described in detail below with reference to the embodiments and the accompanying drawings.
Example one
The underwater vehicle docking guidance method provided by the embodiment is used for realizing docking guidance between a docking platform and a guided vehicle; the system comprises a docking platform, a plurality of positioning devices and a plurality of navigation signals, wherein four transmitting sound sources are arranged on the docking platform, and each transmitting sound source transmits a navigation signal which is orthogonal to each other; four receiving hydrophones are arranged on the guided aircraft, navigation signals sent by the docking platform are received, and a transmitting sound source is arranged;
as shown in fig. 2, the docking platform 2 is fixed to the sea floor, and the unmanned vehicle 1 is a guided vehicle; the docking platform 2 includes transducers 2011, 2012, 2013, and 2014, and control circuitry 202. The transducers 2011, 2012, 2013 and 2014 can emit signals, wherein 1 or more transducers can receive signals simultaneously, and the embodiment takes 2011 as a receiving transducer without loss of generality. The control circuit 202 includes a signal source, a transmitter, a receiver, and the like; the signal source is used for generating four paths of orthogonal signals, the transmitter is used for amplifying the power of the four paths of orthogonal guide signals and then driving the transducers 2011, 2012, 2013 and 2014 to respectively transmit one path of guide signals, the receiver is used for completing the transceiving conversion of the signals of the transducers 2011 and performing signal conditioning and response signal detection, and when receiving a response signal sent by the unmanned aircraft 1, the receiver outputs a trigger signal to the signal source to trigger the emission of the guide signals again.
The process of guiding the butt joint comprises an initial stage and a circulating stage, and the specific steps are as follows:
1) initial stage
a1) The docking platform 2 is
At times, the transducers 2011, 2012, 2013 and 2014 emit mutually orthogonal pilot signals;
b1) the receiving transducers 1011, 1012, 1013, 1014 on the guided aircraft 1 all receive the guidance signal, assuming without loss of generality that the receiving transducer 1011 is at
Receiving a guide signal sent by the docking platform at any time; to prevent repeated false triggering, the signal processing module 105 delays at due to the different times at which the four receiving transducers receive the pilot signalVTransmitting a reply signal by the transmitting transducer 1015 of the guided vehicle;
2) circulation phase
In the loop phase, the following steps a2) and b2) are repeated until the guided vehicle 1 reaches the docking point; for convenience of representation, let the number of cycles be i, and i be 2,3 …;
a2) the receiving transducer 2011 of the docking platform 2
The receiver in the control circuit 202 delays at the moment when the response signal emitted by the guided vehicle is received and the distance between the guided vehicle and the vehicle is calculated, also in order to prevent repeated false triggeringPAgain emitting a pilot signal by the transducers 2011, 2012, 2013, 2014;
b2) the receiving transducer 1011 of the guided aircraft 1 is at
Constantly receiving a guide signal sent by the docking platform, calculating the position of the docking platform in a coordinate system of the docking platform, simultaneously calculating an included angle of the incoming wave direction of the docking platform deviating from the normal direction of the transducer array, adjusting the posture and the speed of the docking platform to be close to a docking point, and delaying delta tVTransmitting a reply signal by a transmitting acoustic source of the guided vehicle;
wherein, the specific steps of calculating the position of the guided vehicle 1 in the coordinate system of the docking platform 2 in step b2) are as follows:
1) when the ith cycle is calculated, the docking platform is connected to the guided aircraftIs a distance of
Wherein C is the speed of sound;
2) establishing a coordinate system as shown in fig. 4, and calculating the relative position of the guided vehicle in the docking platform coordinate system at the ith cycle by using the time delay difference information
Wherein the central line connecting direction of the transmitting transducers 2011 and 2013 is the x-axis direction, the central line connecting direction of the transmitting transducers 2012 and 2014 is the y-axis direction, and the z-axis is determined according to the right-hand rule:
wherein the content of the first and second substances,
propagation delay difference information indicating the pilot signals transmitted by the transmitting transducers 2011 and 2013;
representing propagation delay difference information of the pilot signals transmitted by the transmitting transducers 2012 and 2014, and d is the array element interval.
In step b2), the method for calculating the included angle of the incoming wave direction of the docking platform deviating from the normal direction of the transducer array is as follows:
establishing a coordinate system as shown in fig. 5, the angle of the incoming wave direction of the docking platform 2 deviating from the normal direction of the transducer of the guided vehicle 1 is:
wherein the content of the first and second substances,
for the two transducers 1011, 1013 to receive the delay difference of the docking platform transmission signal,
delay difference, d, for the two transducers 1012, 1014 receiving the docking platform transmit signalVIs the array element spacing of the receiving transducer.
If only two receiving transducers are installed on the guided vehicle 1, and assumed to be the receiving transducers 1011 and 1013, the two receiving transducers need to be installed in a horizontal arrangement, and the incoming wave direction of the docking platform 2 deviates from the normal direction of the transducer of the guided vehicle 1 by an angle
Comprises the following steps:
if only one receiving transducer is installed on the guided vehicle 1, the position of the guided vehicle relative to the docking platform 2 can be calculated, but the included angle of the incoming wave direction of the docking platform deviating from the normal direction of the transducer cannot be calculated.
Example two
The difference between the present embodiment and the first embodiment is that only two transmitting sound sources are mounted on the docking platform 2, specifically, the docking platform 2 includes the transducers 2011 and 2013 and the control circuit 202, and the two transducers 2011 and 2013 must be arranged in the horizontal direction; the components of the control circuit 202 and the functions of the components are the same as those of the first embodiment, and are not described herein again;
four receiving hydrophones 1011, 1012, 1013 and 1014 are arranged on the guided aircraft 1, and are used for receiving a guide signal sent by the docking platform 2, and a transmitting sound source 1015 is arranged; in addition, a depth sensor is also arranged on the guided aircraft and used for measuring the depth of the guided aircraft in real time;
the process of guiding the docking also comprises an initial stage and a cycle stage, and the specific steps are as follows:
1) initial stage
a1) The docking platform 2 is
At that time, transducers 2011 and 2013 emit mutually orthogonal pilot signals;
b1) the receiving transducers 1011, 1012, 1013, 1014 on the guided aircraft 1 all receive the guidance signal, assuming without loss of generality that the receiving transducer 1011 is at
Receiving a guide signal sent by the docking platform at any time; to prevent repeated false triggering, the signal processing module 105 delays at due to the different times at which the four receiving transducers receive the pilot signalVTransmitting a reply signal by the transmitting transducer 1015 of the guided vehicle;
2) circulation phase
In the loop phase, the following steps a2) and b2) are repeated until the guided vehicle 1 reaches the docking point. For convenience of representation, the number of cycles is given as i, and i is 2,3 ….
a2) The receiving transducer 2011 of the docking platform 2
The receiver in the control circuit 202 delays at the moment when the response signal emitted by the guided vehicle is received and the distance between the guided vehicle and the vehicle is calculated, also in order to prevent repeated false triggeringPBy changingThe energy devices 2011 and 2013 emit the guidance signals again;
b2) the receiving transducer 1011 of the guided aircraft 1 is at
Constantly receiving a guide signal sent by the docking platform, calculating the position of the docking platform in a coordinate system of the docking platform, simultaneously calculating an included angle of the incoming wave direction of the docking platform deviating from the normal direction of the transducer array, adjusting the posture and the speed of the docking platform to be close to a docking point, and delaying delta tVTransmitting a reply signal by a transmitting acoustic source of the guided vehicle;
wherein, the specific steps of calculating the position of the guided vehicle 1 in the coordinate system of the docking platform 2 in step b2) are as follows:
1) calculating the distance between the docking platform and the guided vehicle in the ith cycle
2) Pre-capture depth D of docking platform 2PThe depth sensor installed on the guided vehicle 1 measures in real time the depth of the ith cycle itself as
At this time, the relative position of the receiving hydrophone to the transmitting end
Wherein the content of the first and second substances,
transmit signal propagation delay difference information for the transmit transducers 2011 and 2013; d is the array element interval.
The method for calculating the included angle of the incoming wave direction of the docking platform deviating from the normal direction of the transducer array in this embodiment is the same as the first embodiment, and is not described herein again.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. An underwater vehicle docking guidance method, comprising:
s1: at least two transmitting transducers arranged on the docking platform transmit mutually orthogonal guide signals and receive response signals sent by a guided aircraft after receiving the guide signals;
s2: after receiving the response signal, the docking platform controls the transmitting transducer to transmit mutually orthogonal guide signals again, and calculates the distance between the guided aircraft and the docking platform;
s3: the guided aircraft sends a response signal after receiving the guide signal, calculates the distance and/or included angle of the guided aircraft relative to the docking platform according to the guide signal received twice, and adjusts the posture and/or speed of the guided aircraft to approach the docking platform according to the distance and/or included angle;
s4: steps S2-S3 are repeated until the guided vehicle reaches the docking platform.
2. The underwater vehicle docking guidance method of claim 1, wherein the guided vehicle receives guidance signals from at least two transmitting transducers on the docking platform via a receiving transducer and calculates its position relative to the docking platform based on a propagation delay or phase difference between the at least two guidance signals.
3. The underwater vehicle docking guidance method according to claim 1 or 2, wherein the guided vehicle comprises a receiving array composed of at least two receiving transducers, and an angle of the incoming wave direction of the docking platform deviating from the normal direction of the receiving array is calculated according to the time delay difference between the receiving array receiving the guidance signals transmitted by the same transmitting transducer on the docking platform.
4. The underwater vehicle docking guidance method of claim 3, wherein when the angle is not zero, controlling the guided vehicle to change heading such that the angle travels straight after zero.
5. The underwater vehicle docking guidance method of claim 1 or 4, wherein the docking platform sends the guidance signal with a delay of a first preset time after receiving the reply signal from the guided vehicle.
6. The underwater vehicle docking guidance method of claim 5, wherein the guided vehicle transmits the reply signal after a second predetermined time period after receiving the guidance signal from the docking platform.
7. The underwater vehicle docking guidance method of claim 6, wherein the transmitting transducer and the receiving array are separate or common.
8. The underwater vehicle docking guidance method of claim 1 or 7, wherein the docking platform is a mobile platform or a fixed platform disposed on the seafloor.
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