CN110989637B - Docking guiding method for underwater vehicle - Google Patents
Docking guiding method for underwater vehicle Download PDFInfo
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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 discloses a docking guiding method of an underwater vehicle, 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 the 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 vehicle and the docking platform; the guided aircraft calculates the distance and/or the included angle of the guided aircraft relative to the docking platform according to the guide signals received in front and back times, adjusts the gesture and/or the speed of the guided aircraft to approach the docking platform according to the distance and/or the included angle, and sends a response signal; repeating the steps until the guided vehicle reaches the docking platform; the invention effectively solves the problem of bidirectional positioning of the guided vehicle and the docking platform in the docking process; the unmanned aircraft can know the position and the accurate docking direction of the docking platform without installing a high-precision heading sensor, and has high docking speed and high precision.
Description
Technical Field
The invention belongs to the technical field of unmanned aircraft navigation, and particularly relates to an underwater aircraft docking guiding method.
Background
Unmanned underwater vehicles are hot spots developed by current naval equipment, are mainly used for completing various underwater tasks, and have shown own superiority in the fields of rescue, scientific investigation, search and the like. With the development of artificial intelligence technology, unmanned vehicles are increasingly widely applied and affected by other factors such as energy sources, and the unmanned vehicles need to travel to a docking platform for autonomous charging, data uploading and the like after running for a period of time; this involves docking guidance techniques between the docking platform and the unmanned vehicle.
Currently docking guidance typically employs ultra-short baseline or optical guidance techniques. When the ultra-short baseline is adopted for guiding, if the ultra-short baseline is arranged on the docking platform, the unmanned aircraft cannot acquire the position of the unmanned aircraft in real time, and the docking platform is required to send the 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 base line is installed on the unmanned aircraft, firstly, the ultra-short base line is large in volume and can inevitably cause adverse effects on the running of the unmanned aircraft; in addition, the unmanned aircraft can only obtain the position of the docking platform, but cannot acquire the accurate docking direction, and a high-precision heading sensor is required to be additionally adopted; ultrashort baseline guidance cannot be applied to docking on a motion platform; the optical guiding technology is used for guiding through imaging the optical instrument under water, and is only suitable for short-distance guiding due to the limited acting distance of the underwater optical instrument, and in addition, factors such as biological adhesion influence the service life of the underwater optical instrument.
Disclosure of Invention
In view of at least one of the drawbacks or improvements of the prior art, the present invention provides a docking guidance method for an underwater vehicle, wherein mutually orthogonal guidance signals are transmitted on a docking platform and response signals transmitted by the guided vehicle after the guidance signals are received; transmitting mutually orthogonal guide signals again according to the received response signals, and calculating the distance between the guided vehicle and the guided vehicle; the problem of bidirectional positioning of the guided vehicle and the docking platform in the docking process is effectively solved, and distance measurement is realized; the guided aircraft calculates the distance and/or the included angle of the guided aircraft relative to the docking platform according to the received guiding signals, and adjusts the gesture and/or the speed of the guided aircraft to approach the docking platform according to the distance and/or the included angle; the unmanned aircraft can know the position and the accurate docking direction of the docking platform without installing a high-precision heading sensor, and has high docking speed and high precision.
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 the guided aircraft after receiving the guide signals;
s2: the docking platform controls the transmitting transducer to transmit mutually orthogonal guiding signals again after receiving the response signals, and calculates the distance between the guided vehicle and the docking platform;
s3: the guided aircraft sends a response signal after receiving the guide signal, calculates the distance and/or the included angle of the guided aircraft relative to the docking platform according to the guide signal received in front and back times, and adjusts the gesture and/or the speed of the guided aircraft to approach the docking platform according to the distance and/or the included angle;
s4: repeating steps S2-S3 until the guided vehicle reaches the docking platform.
Preferably, in the above 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 a position of the guided vehicle relative to the docking platform according to a propagation delay difference or a phase difference between the at least two guidance signals.
Preferably, in the above underwater vehicle docking guidance method, the guided vehicle includes a receiving array composed of at least two receiving transducers, and the 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 signals sent by the same transmitting transducer on the docking platform received by the receiving array.
Preferably, in 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 sending 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 transmits the response signal for a second preset time after receiving the guidance signal sent by the docking platform.
Preferably, in the underwater vehicle docking guidance method, the transmitting transducer and the receiving transducer are respectively arranged in a transmitting mode and a receiving mode or are shared in a transmitting mode and a receiving mode.
Preferably, in the above underwater vehicle docking guidance method, the docking platform is a moving platform or a fixed platform arranged on the seabed.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
according to the underwater vehicle docking guiding method provided by the invention, mutually orthogonal guiding signals are transmitted on the docking platform, and response signals transmitted by the guided vehicle after the guided vehicle receives the guiding signals are received; transmitting mutually orthogonal guide signals again according to the received response signals, and calculating the distance between the guided vehicle and the guided vehicle; the problem of bidirectional positioning of the guided vehicle and the docking platform in the docking process is effectively solved, and distance measurement is realized; the guided aircraft calculates the distance and/or the included angle of the guided aircraft relative to the docking platform according to the received guiding signals, and adjusts the gesture and/or the speed of the guided aircraft to approach the docking platform according to the distance and/or the included angle; the unmanned aircraft can know the position and the accurate docking direction of the docking platform without installing a high-precision heading sensor, and has high docking speed and high precision.
Drawings
FIG. 1 is a flow chart of an underwater vehicle docking guidance method provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a docking platform and guided vehicle provided by an embodiment of the present invention;
FIG. 3 is a layout of a transducer array 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 for position resolution provided by an embodiment of the present invention;
FIG. 5 is a coordinate system of four receiving transducers on a guided vehicle created for angle resolution provided by an embodiment of the present invention;
like reference numerals denote like technical features throughout the drawings, in particular: 1-guided craft; 101-a transducer array; 102-a power amplifier; 103-a signal source; 104-a receiver; 1011. 1012, 1013, 1014-receiving transducers; 1015-a transmitting transducer; 2-a docking platform; 202-a control circuit; 2011. 2012, 2013, 2014-transducers.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Fig. 1 is a flowchart 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 the guided aircraft after receiving the guide signals;
s2: the docking platform controls the transmitting transducer to transmit mutually orthogonal guiding signals again after receiving the response signals, and calculates the distance between the guided vehicle and the docking platform;
s3: the guided aircraft sends a response signal after receiving the guide signal, calculates the distance and/or the included angle of the guided aircraft relative to the docking platform according to the guide signal received in front and back times, and adjusts the gesture and/or the speed of the guided aircraft to approach the docking platform according to the distance and/or the included angle;
the calculation mode of the distance between the guided aircraft and the docking platform is as follows: the pilot signals sent by at least two transmitting transducers on the docking platform are received by one receiving transducer on the pilot aircraft, and the position of the pilot signals relative to the docking platform is calculated according to the propagation delay difference or the phase difference between the at least two pilot signals.
The calculation mode of the included angle of the guided aircraft relative to the docking platform is as follows: the guided aircraft comprises a receiving array formed by at least two receiving transducers, an included angle of the incoming wave direction of the docking platform deviating from the normal line direction of the receiving array is calculated according to the time delay difference between the receiving transducers and the guiding signals sent by the same transmitting transducer on the docking platform, and a better 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 heading so that the included angle is zero, and the guided vehicle can realize docking only by straight line navigation.
S4: repeating steps S2-S3 until the guided vehicle reaches the docking platform.
Further, the docking platform delays the first preset time to send the guiding signal after receiving the response signal sent by the guided vehicle; the guided aircraft transmits a response signal after receiving the guide signal sent by the docking platform for a second preset time; the delay time can be set to effectively prevent repeated false triggering.
Further, the docking platform and the transmitting transducer and the receiving transducer on the guided vehicle can be separated from each other or can be shared by the transmitting transducer and the receiving transducer.
Further, the docking platform may be a moving platform or a fixed platform arranged on the sea floor.
The following describes in detail an underwater vehicle docking guidance method provided by the present invention with reference to the embodiments and the accompanying drawings.
Example 1
The embodiment provides a docking guidance method for an underwater vehicle, which is used for realizing docking guidance between a docking platform and a guided vehicle; four emission sound sources are arranged on the docking platform, and each emission sound source emits mutually orthogonal navigation signals; four receiving hydrophones are arranged on the guided aircraft, receive navigation signals sent by the docking platform and are provided with a transmitting sound source;
as shown in fig. 2, the docking platform 2 is fixed to the sea floor, and the unmanned vehicle 1 is a guided vehicle; docking platform 2 includes transducers 2011, 2012, 2013, and 2014, and control circuitry 202. Transducers 2011, 2012, 2013 and 2014 may all transmit signals, wherein 1 or more of the transducers may receive signals simultaneously, and 2011 is taken as a receiving transducer in this embodiment without loss of generality. The control circuit 202 includes a signal source, a transmitter, a receiver, and the like; the signal source is configured to generate four paths of orthogonal signals, the transmitter amplifies the four paths of orthogonal pilot signals, and then drives the transducers 2011, 2012, 2013 and 2014 to transmit one path of pilot signals respectively, the receiver completes the receiving and transmitting conversion of the signals of the transducers 2011, performs signal conditioning and detection of response signals, and outputs a trigger signal to the signal source after receiving the response signals sent by the unmanned aircraft 1, so as to trigger the retransmission of the pilot signals.
The unmanned vehicle 1 comprises a transducer array 101, a power amplifier 102, a signal source 103, a receiver 104 and a signal processing module 105 (not shown in the figures); fig. 3 is a schematic diagram of the structure of the transducer array 101 provided in this embodiment, where the transducer array 101 is composed of four receiving transducers 1011, 1012, 1013, 1014 and one transmitting transducer 1015; the four receiving transducers are used for receiving the guide signals sent by the docking platform 2; the receiver 104 is configured to perform signal conditioning on the pilot signals received by the receiving transducers 1011, 1012, 1013, 1014, and output the signal to the signal processing module 105, so as to implement synchronous acquisition and processing. When the signal processing module 105 detects the guiding signal, calculates the position of the guiding signal in the coordinate system of the docking platform, and simultaneously calculates the included angle of the incoming wave direction of the docking platform deviating from the normal line direction of the transducer array, and outputs a triggering signal to the signal source 103, the signal source 103 generates a response signal, and after power amplification is performed by the power amplifier 102, the response signal is transmitted by the transmitting transducer 1015.
The process of guiding docking comprises an initial stage and a circulating stage, and the specific steps are as follows:
1) Initial stage
a1 At the docking platform 2At time instants, transducers 2011, 2012, 2013 and 2014 emit pilot signals that are mutually orthogonal;
b1 The receiving transducers 1011, 1012, 1013, 1014 on the guided vehicle 1 all receive the guidance signal, without loss of generality assuming that the receiving transducer 1011 is onReceiving a guide signal sent by the docking platform at any moment; because the four receiving transducers receive the pilot signals at different times, the signal processing module 105 delays Δt in order to prevent repeated false triggers V Transmitting a reply signal by the transmitting transducer 1015 of the guided vehicle;
2) Cycle phase
In the cycle phase, the following steps a 2) and b 2) are repeated until the guided vehicle 1 reaches the docking point; for convenience of representation, let the number of cycles be i, and i=2, 3 …;
a2 A receiving transducer 2011 of the docking platform 2The response signal transmitted by the guided vehicle is received at the moment, the distance of the guided vehicle from itself is calculated, and likewise in order to prevent repeated false triggers, the receiver in the control circuit 202 delays Δt P The pilot signal is again emitted by the transducers 2011, 2012, 2013, 2014;
b2 At the receiving transducer 1011 of the guided vehicle 1)Receiving the guiding signal from the docking platform, calculating the position of the docking platform in the coordinate system of the docking platform, simultaneously calculating the 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 approach the docking point, and delaying deltat V Transmitting a response signal by the transmitted sound source of the guided vehicle;
the specific steps of calculating the position of the guided vehicle 1 in the step b 2) in the coordinate system of the docking platform 2 are as follows:
1) Calculating the distance between the docking platform and the guided vehicle during the ith cycle
Wherein C is the sound velocity;
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 in the ith cycle by using the time delay difference informationWherein the direction of the central line of the transmitting transducers 2011 and 2013 is the x-axis direction, the direction of the central line 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,propagation delay difference information representing the pilot signal transmitted by the transmitting transducers 2011 and 2013; />Propagation delay difference information representing the pilot signal transmitted by the transmitting transducers 2012 and 2014, d being the element spacing.
In the step b 2), the method for calculating the included angle of the incoming wave direction of the butt-joint platform deviating from the normal line direction of the transducer array is as follows:
establishing a coordinate system as shown in fig. 5, wherein an included angle of an incoming wave direction of the docking platform 2 deviating from a normal direction of a transducer array of the guided vehicle 1 is as follows:
wherein,delay difference for receiving docking station transmit signals for two transducers 1011, 1013, +.>The time delay difference, d, for the two transducers 1012, 1014 to receive the docking station transmit signals V For receiving the array element spacing of the transducers.
If only two receiving transducers are installed on the guided vehicle 1, the receiving transducers 1011 and 1013 are assumed to be the receiving transducers, the two receiving transducers need to be installed horizontally, and the incoming wave direction of the docking platform 2 deviates from the included angle of the normal direction of the transducer array of the guided vehicle 1The method 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 only be calculated, but the included angle of the incoming wave direction of the docking platform, which deviates from the normal direction of the transducer array, cannot be calculated.
Example two
The difference between the present embodiment and the first embodiment is that only two emission sound sources are installed 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 a horizontal direction; the constituent 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 here again;
four receiving hydrophones 1011, 1012, 1013, 1014 are arranged on the guided vehicle 1, receive the guiding signals sent by the docking platform 2 and are provided with a transmitting sound source 1015; in addition, a depth sensor is also arranged on the guided aircraft and is used for measuring the depth of the guided aircraft in real time;
the process of guiding docking also comprises an initial stage and a circulation stage, and the specific steps are as follows:
1) Initial stage
a1 At the docking platform 2At time instants, transducers 2011 and 2013 emit mutually orthogonal pilot signals;
b1 The receiving transducers 1011, 1012, 1013, 1014 on the guided vehicle 1 all receive the guidance signal, without loss of generality assuming that the receiving transducer 1011 is onReceiving a guide signal sent by the docking platform at any moment; because the four receiving transducers receive the pilot signals at different times, the signal processing module 105 delays Δt in order to prevent repeated false triggers V Transmitting a reply signal by the transmitting transducer 1015 of the guided vehicle;
2) Cycle phase
In the cycle phase, the following steps a 2) and b 2) are repeated until the guided vehicle 1 reaches the docking point. For convenience of representation, the number of cycles is given by i, and i=2, 3 ….
a2 A receiving transducer 2011 of the docking platform 2The response signal transmitted by the guided vehicle is received at the moment, the distance of the guided vehicle from itself is calculated, and likewise in order to prevent repeated false triggers, the receiver in the control circuit 202 delays Δt P The pilot signal is again transmitted by transducers 2011 and 2013;
b2 At the receiving transducer 1011 of the guided vehicle 1)Receiving the guiding signal from the docking platform, calculating the position of the docking platform in the coordinate system of the docking platform, simultaneously calculating the 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 approach the docking point, and delaying deltat V Transmitting a response signal by the transmitted sound source of the guided vehicle;
the specific steps of calculating the position of the guided vehicle 1 in the step b 2) in the coordinate system of the docking platform 2 are as follows:
1) Calculating the distance between the docking platform and the guided vehicle during the ith cycle
2) Depth D of pre-acquisition docking platform 2 P The depth sensor mounted on the guided vehicle 1 measures the depth of itself at the ith cycle in real time asAt this time, the relative position of the receiving hydrophone with respect to the transmitting end is +.>
Wherein,the transmit signal propagation delay difference information of the transmit transducers 2011 and 2013; d is the array element spacing.
The method for calculating the included angle of the incoming wave direction of the butt-joint platform, which deviates from the normal line direction of the transducer array, is the same as that of the first embodiment, and will not be described here again.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the 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 the guided aircraft after receiving the guide signals;
s2: the docking platform controls the transmitting transducer to transmit mutually orthogonal guiding signals again after receiving the response signals, and calculates the distance between the guided vehicle and the docking platform;
s3: the guided aircraft sends a response signal after receiving the guide signal, calculates the distance and/or the included angle of the guided aircraft relative to the docking platform according to the guide signal received in front and back times, and adjusts the gesture and/or the speed of the guided aircraft to approach the docking platform according to the distance and/or the included angle;
s4: repeating steps S2-S3 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 docking guidance method of an underwater vehicle according to claim 1 or 2, wherein the guided vehicle comprises a receiving array composed of at least two receiving transducers, and the 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 signal sent by the same transmitting transducer on the docking platform.
4. A method of docking guidance for an underwater vehicle as claimed in claim 3, wherein when the angle is not zero, the guided vehicle is controlled to change heading so that the angle is zero and thereafter the guided vehicle travels straight.
5. The underwater vehicle docking guidance method of claim 1 or 4, wherein the docking platform delays sending the guidance signal for a first preset time after receiving the response signal sent by the guided vehicle.
6. The method for docking guidance of an underwater vehicle according to claim 5, wherein the guided vehicle transmits the response signal for a second predetermined time 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 shared for transmitting and receiving.
8. The underwater vehicle docking guidance method of claim 1 or 7, wherein the docking platform is a moving platform or a fixed platform disposed on the sea floor.
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