CN112698273B - Multi-AUV single-standard distance measurement cooperative operation method - Google Patents
Multi-AUV single-standard distance measurement cooperative operation method Download PDFInfo
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- CN112698273B CN112698273B CN202011481192.4A CN202011481192A CN112698273B CN 112698273 B CN112698273 B CN 112698273B CN 202011481192 A CN202011481192 A CN 202011481192A CN 112698273 B CN112698273 B CN 112698273B
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- 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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Abstract
The invention discloses a multi-AUV single-standard distance measurement cooperative operation method, which comprises the following steps: arranging and calibrating beacons, and establishing a navigation coordinate system with the beacons as far points; the AUV navigates to the projection position of the beacon at the current depth by using the ranging information and initializes the position of the AUV; confirming the working area of each AUV, and completing the scanning task of the target area in a circular maneuvering mode; and finishing the homework return of each AUV, extracting and splicing data in each AUV, and generating a final complete result. The method takes the distance information as the reference of the cooperative operation, the AUV carries few sensors, the measurement of the speed information of the AUV is not needed, and the method can be applied to AUV scenes without speed measuring sensors, such as large water depth and the like.
Description
Technical Field
The invention relates to a multi-AUV single-standard distance measurement cooperative operation method, in particular to a multi-AUV cooperative operation method based on distance measurement information between an AUV and a single acoustic beacon, belonging to the field of Underwater cooperation of multi-intelligent Underwater robots (AUV).
Background
Refined detection scanning of sea areas is a necessary step for developing ocean resources. Compared with a water surface ship, the AUV has the advantages of being closer to a detected region, higher in precision and free of personnel value conservation and saving labor cost when the deep water detection task is carried out. Due to the serious attenuation of electromagnetic waves underwater, the mature positioning communication system based on the electromagnetic waves cannot effectively work underwater. The underwater acoustic technology inevitably has high delay and low bandwidth limitation, so that the AUV cannot directly utilize the cooperative mature technology of the unmanned aerial vehicle and the unmanned vehicle.
Compared with the traditional long baseline, the single-beacon positioning technology has shorter time in the beacon preparation stage, and has higher positioning precision in deep sea operation compared with a ship-borne ultra-short baseline system. The multi-AUV cooperative operation method based on single-beacon ranging utilizes distance information between beacons and AUVs to complete position initialization and define operation areas and operation paths of the AUVs, and can complete scanning tasks of the operation areas in water areas where velocity cannot be obtained by DVL (dynamic velocity log) through a single-beacon positioning technology. Compared with the existing AUV (autonomous underwater vehicle) cooperative method, such as the patent number CN111535348A, which is named as a master-slave cooperative positioning method of an autonomous underwater vehicle combined navigation system, the method requires the use of AUV speed information, and the patent number CN109596128A, which is named as a method for improving the multi-AUV cooperative positioning performance based on multiple hydrophones, needs to use multiple hydrophones.
Disclosure of Invention
Aiming at the prior art, the invention aims to provide a multi-AUV single-mark distance measurement cooperative operation method which does not need speed assistance and only needs a single hydrophone for AUV.
In order to solve the technical problem, the invention provides a cooperative operation method for multi-AUV single-standard ranging, which is characterized by comprising the following steps of:
step 1: determining the operation area to be scanned, putting a beacon at the central position of the area, calibrating the beacon, and determining the position (x) of the beacon in a geodetic coordinate system b ，y b ，z b ) And depth information d b Meanwhile, establishing a navigation coordinate system with the beacon as an origin O and determining a conversion relation between the navigation coordinate system and a geodetic coordinate system;
and 2, step: the m operation AUVs are respectively numbered as AUV1, AUV2.. AUVn.. AUVm, n belongs to [1, m ], the AUV cluster approaches to an operation area in a depth-fixed navigation mode, and simultaneously keeps the AUVs at different depths to prevent collision accidents among the AUVs, the AUVs are communicated with the beacons and measure the distance L between the AUVs and the beacons, the AUVs search the direction in which the distance L is reduced most quickly through the maneuvering navigation, and reach the projection position of the beacons on the plane of the AUV by driving towards the direction, and the position of the initialized AUV is (0, 0);
and step 3: after the AUV completes position initialization, dividing an operation area according to operation requirements, providing positioning navigation for the AUV by using a single beacon positioning navigation technology in a navigation coordinate system, and driving to the operation area in a depth-fixed straight line navigation mode;
and 4, step 4: recording the coordinates of an operation starting point after the AUV arrives at an operation area, scanning the area in a circular motion mode with a beacon projection point as an origin, recording data in a memory, and recording the position information of the AUV under a navigation coordinate system at each moment by using a single beacon positioning technology;
and 5: and extracting the recorded scanning data, splicing the scanning data by taking the positioning information as a reference to obtain a scanning result of the positive film area, and converting the data into a geodetic coordinate system integrally to obtain scanning data corresponding to the geodetic coordinate.
The invention also includes:
1. the step 2 specifically comprises the following steps:
step 2.1: depth d of No. n AUVn n Depth difference Δ d from the beacon n ＝d b -d n 、t 0 Distance L between time AUVn and beacon n1 Calculating its horizontal distance
Step 2.2: AUVn keeping straight line navigation at fixed depth, t 1 Distance between time AUV and beacon is L n1 At a horizontal distance of
Step 2.3: keeping straight line navigation at constant depth after AUVn changes bow angle theta, t 2 Distance between time AUV and beacon is L n2 At a horizontal distance of
Step 2.4: according to L n0s 、L n1s 、L n2s Judging the position of AUVn to initialize maneuvering mode, making it sail to the direction close to beacon until reaching the projection position of beacon on the plane where AUV is located;
step 2.5: the initialization self position is (0,0) after the AUV arrives at the beacon projection point.
2. According to L in step 2.4 n0s 、L n1s 、L n2s The method for judging the position initialization maneuvering mode of the AUVn specifically comprises the following steps:
(1) adjusting the heading direction of the AUV to enable the AUV to navigate towards the direction close to the beacon, and specifically:
if L is n1s ＞L n1s ＞L n2s If so, indicating that the AUV is closer to the position of the beacon, and continuing to turn the bow;
if L is n1s ＞L n1s ，L n1s ＜L n2s If the AUV is close to the beacon and is far away from the beacon, the AUV turns to the reverse direction until the distance between the AUV and the beacon is reduced again;
if L is n1s ＜L n1s ＜L n2s If the distance between the AUV and the beacon is smaller, the AUV is far away from the position of the beacon, and the bow continues to turn until the distance between the AUV and the beacon is reduced;
if L is n1s ＜L n1s ，L n1s ＞L n2s If so, the AUV is indicated to be away from the beacon and close to the beacon, and then the AUV continues to turn to observe whether the AUV continues to be close to the beacon.
(2) After AUV heading is adjusted, adjusting an AUV maneuvering mode according to the ranging information to enable the AUV maneuvering mode to continuously approach the beacon, specifically:
after the AUV determines that the AUV sails towards the beacon position, judging whether the AUV oversteers or not by judging the speed of the distance between the AUV and the beacon within adjacent delta t time, specifically: suppose adjacent time period Δ t 1 And Δ t 1 In each case, the distance between AUV and beacon is reduced by Δ l 0 And Δ l 1 ：
If Δ l 0 ＞Δl 1 If the distance between the AUV and the beacon is reduced, the speed is reduced, namely the distance between the AUV and the beacon is over-steered, and the AUV and the beacon are steered in the opposite direction;
if Δ l 0 ＜Δl 1 This indicates that the speed of the decrease in the distance between the AUV and the beacon is fast, and the AUV can continue to turn to approach the beacon more quickly to complete the initialization process.
The invention has the beneficial effects that: the method takes the distance information as the reference of the cooperative operation, the AUV carries few sensors, the measurement of the speed information of the AUV is not needed, and the method can be applied to AUV scenes without speed measuring sensors, such as large water depth and the like. The method comprises the following steps: arranging and calibrating beacons, and establishing a navigation coordinate system with the beacons as far points; the AUV navigates to the projection position of the beacon at the current depth by using the ranging information and initializes the position of the AUV; confirming the working area of each AUV, and completing the scanning task of the target area in a circular maneuvering mode; and finishing the homework return of each AUV, extracting and splicing data in each AUV, and generating a final complete result. The invention provides a multi-AUV cooperative operation method based on a single acoustic beacon, which realizes positioning navigation on an AUV by using a single beacon positioning technology and realizes cooperative scanning on a target area by using a concentric ring operation mode with the beacon as an origin. The system can be based on an underwater fixed beacon, and can also provide an operation reference for an AUV cluster by using an AUV with self-positioning capability as a beacon. In the method, the AUV does not need to carry complex underwater equipment such as DVL, USBL and the like, the whole scanning task can be completed by utilizing the distance information between the AUV and the beacon and combining the heading of the AUV with the distance information, and the arrangement cost of the whole AUV system can be greatly saved. Meanwhile, the method can also utilize data fusion algorithms such as a Kalman filter, a particle filter and the like to realize data fusion of other systems such as an inertial navigation system and the like so as to improve the self positioning and operation precision, and has good expansion compatibility with other positioning navigation systems.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of beacon calibration;
FIG. 3 is a schematic view of a navigation coordinate system;
FIG. 4 is a schematic horizontal plane view of position initialization;
FIG. 5 is a schematic vertical view of position initialization;
FIG. 6 is a schematic view of an initial maneuver direction determination;
FIG. 7 is a schematic view of a maneuver for position initialization;
fig. 8 is a schematic diagram of the AUV scanning operation.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
The method takes the arranged and calibrated beacon as an origin to establish a navigation coordinate system, establishes communication between the AUV and the beacon and measures a relative distance, and the AUV completes position initialization by using distance information. The AUV uses a single beacon positioning technology to provide positioning for the AUV, and scans and records respective target areas in a local memory by taking a beacon as an origin in a working area in a circular motion manner. And returning after each AUV operation is finished, extracting data therein and splicing the data into a complete scanning result, and realizing the scanning operation of the whole target area.
The invention provides a multi-AUV cooperative area scanning method based on the distance information between AUVs and a single acoustic beacon, which is realized by the following steps:
1. and laying out the acoustic beacon and calibrating the position, wherein the position comprises the longitude and latitude of the beacon and the depth information of the beacon. And establishing a navigation coordinate system by taking the acoustic beacon as an origin.
And 2. the AUV cluster acquires communication with the beacon and advances to the position of the beacon. When the AUV arrives directly above the beacon, the position of the AUV is initialized to (0,0), i.e., at the origin position of the navigation coordinate system.
3. And each AUV drives to the operation area according to the operation requirement, calculates self position information by using the distance and heading information in the process of traveling, and records the self position when the AUV reaches the starting point of the operation area.
And 4. the AUV maneuvers around the beacon annular path, scans the seabed and records information in the local AUV, returns to a preset recovery point for recovery after the scanning of all the operation areas is finished, and collects the scanning results of all the AUVs to obtain the scanning result of the whole seabed.
The detailed steps comprise:
And 2, the m operation AUVs are respectively numbered as AUV1, AUV2. The AUV searches for the direction with the fastest distance L reduced through maneuvering navigation, and reaches the projection position of the beacon on the plane where the AUV is located through driving towards the direction, and the position of the initialized AUV is (0, 0). The method specifically comprises the following steps:
(1) depth difference delta d between the beacon and the depth dn where the nth AUVn is located n ＝d b -d n 、t 0 Distance L between time AUVn and beacon n1 Calculating its horizontal distance
(2) AUVn keeping straight line navigation at fixed depth, t 1 Distance between time AUV and beacon is L n1 At a horizontal distance of
(3) Keeping straight line navigation at constant depth after AUVn changes bow angle theta, t 2 Distance between time AUV and beacon is L n2 At a horizontal distance of
(4) According to L n1s 、L n1s 、L n2s And determining the initial maneuvering mode of the AUVn, and making the AUVn navigate to the direction close to the beacon until reaching the projection position of the beacon on the plane where the AUV is located.
(5) The initialization self position is (0,0) after the AUV arrives at the beacon projection point.
And 3, dividing the operation area according to the operation requirement after the AUV completes position initialization, providing positioning navigation for the AUV by using a single beacon positioning navigation technology in a navigation coordinate system, and driving to the operation area in a depth-fixed straight line navigation mode.
And 4, recording the coordinates of the operation starting point after the AUV arrives at the operation area, scanning the area in a circular motion mode with the beacon projection point as the origin, recording the data in a memory of the AUV, recording the position information of the AUV under the navigation coordinate system at each moment by using a single beacon positioning technology, and automatically floating and returning after the operation is finished.
And 5, extracting all scanning data recorded by the AUV after the AUV navigates back, splicing the scanning data by taking the positioning information as a reference to finally obtain a scanning result of the positive film area, and converting the data into a geodetic coordinate system integrally to finally obtain the scanning data corresponding to the geodetic coordinate.
With reference to fig. 1, the embodiment of the present invention specifically includes:
And 2, after the beacon calibration is finished, the AUV is laid out to enter an operation area, the AUV and the beacon are communicated, the distance measurement is carried out, and the AUV position initialization process shown in the figures 4 and 5 is started. And the AUVs are positioned at different depths respectively, and respectively move towards the direction of the beacon according to the ranging result.
The specific process is shown in fig. 6 and 7:
(1) calculating t 0 Horizontal distance L between time AUVn and beacon n0s 。
(2) AUV straight line depth-fixing navigation delta t time, calculating t 1 Distance L between time AUVn and beacon n1s 。
(3) Keeping the constant-depth straight-line navigation delta t time after the AUV turns bow by a certain angle theta, and calculating t 2 Distance L between time AUVn and beacon n2s 。
(4) According to L n1s 、L n1s 、L n2s Judging whether the initial heading direction of the AUVn is the direction close to the beacon or not, and establishing an initial maneuvering mode of the AUV:
if L is n1s ＞L n1s ＞L n2s If the AUV is closer to the position of the beacon, the heading continues to be turned.
If L is n1s ＞L n1s ，L n1s ＜L n2s Then it indicates that the AUV is close to the beacon firstAnd the distance from the beacon is further increased, and the direction is reversed until the distance from the beacon is reduced again.
If L is n1s ＜L n1s ＜L n2s And indicating that the AUV is more and more away from the position of the beacon, and continuing to turn the bow until the distance between the AUV and the beacon is reduced.
If L is n1s ＜L n1s ，L n1s ＞L n2s If so, the AUV is indicated to be away from the beacon and close to the beacon, and then the AUV continues to turn to observe whether the AUV continues to be close to the beacon.
(5) After the AUV determines through the process (4) that the AUV itself is navigating to the beacon location, a maneuver is used as shown in fig. 6. By determining the rate at which the distance between the AUV and the beacon decreases during the adjacent Δ t time, it is determined whether the AUV is oversteering. Suppose adjacent time period Δ t 1 And Δ t 1 In each case, the distance between AUV and beacon is reduced by Δ l 0 And Δ l 1 ：
If Δ l 0 ＞Δl 1 This indicates that the AUV is slowing down the distance from the beacon, i.e. oversteering, and the opposite direction is required.
If Δ l 0 ＜Δl 1 This indicates that the speed of the decrease in the distance between the AUV and the beacon is faster, at which point the AUV can continue to turn to more quickly approach the beacon to complete the initialization process.
In the process that the AUV approaches to the beacon, the speed of the AUV is gradually reduced according to the reduction of the absolute distance between the AUV and the beacon, and the problem that the AUV cannot approach the beacon accurately due to navigation near the beacon caused by too fast navigation speed of the AUV is solved.
(6) And (5) initializing the position of the AUV to be (0,0) after the AUV reaches the beacon projection point, and finishing the whole initialization process.
And 3, allocating the operation areas of all AUVs, and striving to make the operation courses of all AUVs consistent on the premise of ensuring that the operation areas are completely covered by taking the navigation distance of all AUVs when scanning is finished as a basis, so that batch recovery is facilitated after operation is finished, and meanwhile, the problems of insufficient energy and the like caused by overlarge operation courses of individual AUVs are avoided.
And 4, recording the coordinate position of the operation starting point in the navigation coordinate system and starting scanning operation after the AUV reaches the operation area. The AUV operates in a manner of a fixed-depth circular motion as shown in fig. 8, and determines its own position and corrects its own motion trajectory by using a distance-based single beacon positioning method during operation. The AUV records the scanning data and the corresponding position information in a memory carried by the AUV. After the AUV finishes the operation task of the scanning area, the AUV can go to the next task target point or directly return to the original position for recycling according to the requirement.
And 5, extracting scanning data stored in the AUV after the AUV navigates back, splicing the scanning data into a complete regional scanning result according to the position relation under the navigation coordinate system, and converting the result into a geodetic coordinate system according to the conversion relation between the navigation coordinate system and the geodetic coordinate system to finish the construction of the whole scanning result graph.
Claims (2)
1. A multi-AUV single-standard distance measurement cooperative operation method is characterized by comprising the following steps:
step 1: determining the operation area to be scanned, putting a beacon at the central position of the area, calibrating the beacon, and determining the position (x) of the beacon in a geodetic coordinate system b ,y b ,z b ) And depth information d b Meanwhile, establishing a navigation coordinate system with the beacon as an origin O and determining a conversion relation between the navigation coordinate system and a geodetic coordinate system;
step 2: the m operation AUVs are numbered AUV1, AUV2 … AUVn … AUVm, n belongs to [1, m ], an AUV cluster approaches to an operation area in a depth-fixed navigation mode, and simultaneously keeps the AUVs at different depths to prevent collision accidents among the AUVs, the AUVs are communicated with beacons and measure the distance L between the AUVs and the beacons, the AUVs search the direction in which the distance L is reduced most quickly through maneuvering navigation, and the AUV drives to the direction to reach the projection position of the beacon on the plane of the AUV, wherein the position of the initialized AUV is (0,0), and the method specifically comprises the following steps:
step 2.1: depth d of No. n AUVn n Depth difference Δ d from the beacon n ＝d b -d n 、t 0 Distance between time AUVn and beaconIs far from L n0 Calculating its horizontal distance
Step 2.2: AUVn keeping straight line navigation at fixed depth, t 1 Distance between time AUV and beacon is L n1 At a horizontal distance of
Step 2.3: keeping straight line navigation at constant depth after AUVn changes bow angle theta, t 2 Distance between time AUV and beacon is L n2 At a horizontal distance of
Step 2.4: according to L n0s 、L n1s 、L n2s Judging the position of AUVn to initialize maneuvering mode, making it sail to the direction close to beacon until reaching the projection position of beacon on the plane where AUV is located;
step 2.5: initializing the position of the AUV to be (0,0) after the AUV reaches the position of the beacon projection point;
and step 3: after the AUV completes position initialization, dividing an operation area according to operation requirements, providing positioning navigation for the AUV by using a single beacon positioning navigation technology in a navigation coordinate system, and driving to the operation area in a depth-fixed straight line navigation mode;
and 4, step 4: recording the coordinates of an operation starting point after the AUV arrives at an operation area, scanning the area in a circular motion mode with a beacon projection point as an origin, recording data in a memory, and recording the position information of the AUV under a navigation coordinate system at each moment by using a single beacon positioning technology;
and 5: and extracting the recorded scanning data, splicing the scanning data by taking the positioning information as a reference to obtain a scanning result of the positive film area, and converting the data into a geodetic coordinate system integrally to obtain scanning data corresponding to the geodetic coordinate.
2. Root of herbaceous plantThe cooperative operation method of multi-AUV single-standard ranging according to claim 1, characterized in that: step 2.4 according to L n0s 、L n1s 、L n2s The method for judging the position initialization maneuvering mode of the AUVn specifically comprises the following steps:
(1) adjusting the heading direction of the AUV to enable the AUV to navigate towards the direction close to the beacon, and specifically:
if L is n0s ＞L n1s ＞L n2s If so, indicating that the AUV is closer to the position of the beacon, and continuing to turn the bow;
if L is n0s ＞L n1s ，L n1s ＜L n2s If the AUV is close to the beacon and is far away from the beacon, the AUV turns to the reverse direction until the distance between the AUV and the beacon is reduced again;
if L is n0s ＜L n1s ＜L n2s If the distance between the AUV and the beacon is smaller, the AUV is far away from the position of the beacon, and the bow continues to turn until the distance between the AUV and the beacon is reduced;
if L is n0s ＜L n1s ，L n1s ＞L n2s If so, indicating that the AUV is far away from the beacon and is close to the beacon, and continuing to turn the bow to observe whether the AUV is continuously close to the beacon;
(2) after AUV heading is adjusted, adjusting an AUV maneuvering mode according to the ranging information to enable the AUV maneuvering mode to continuously approach the beacon, specifically:
after the AUV determines that the AUV sails towards the beacon position, judging whether the AUV oversteers or not by judging the speed of the distance between the AUV and the beacon within adjacent delta t time, specifically: suppose that adjacent time segments at 0 And Δ t 1 In each case, the distance between AUV and beacon is reduced by Δ l 0 And Δ l 1 ：
If Δ l 0 ＞Δl 1 If the distance between the AUV and the beacon is reduced, the speed is reduced, namely the distance between the AUV and the beacon is over-steered, and the AUV and the beacon are steered in the opposite direction;
if Δ l 0 ＜Δl 1 This indicates that the speed of the decrease in the distance between the AUV and the beacon is fast, and the AUV can continue to turn to approach the beacon more quickly to complete the initialization process.
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