CN113895572A - Overwater and underwater integrated unmanned system and method - Google Patents
Overwater and underwater integrated unmanned system and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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Abstract
The invention discloses an overwater and underwater integrated unmanned system and a method, which belong to the field of physical marine navigation positioning, and comprise a scientific investigation ship, an overwater unmanned ship formation, an underwater AUV, a GNSS receiver, an IMU, a USBL, a DVL device and a communication device; the scientific investigation ship and the unmanned ship formation obtain high-precision and high-reliability position and speed information through a GNSS/INS integrated navigation technology; the underwater AUV carrier integrated positioning and navigation system takes the high-precision position information of the overwater ship body as a reference, realizes the integrated positioning and navigation of the underwater AUV carrier through the fusion of the multivariate sensors, namely provides a reliable carrier for underwater physical ocean detection through the overwater and underwater integrated formation system, realizes the integrated depth fusion of navigation, positioning, attitude measurement and time service of the overwater and underwater mobile carrier, and solves the problems of low efficiency and low precision when the traditional monomer scientific investigation ship carries out physical ocean detection.
Description
Technical Field
The invention belongs to the field of physical marine navigation and positioning, and particularly relates to an overwater and underwater integrated unmanned system and method.
Background
Reliable overwater and underwater position information service is the basic guarantee for developing ocean scientific research, ocean economy and ocean science. Meanwhile, with the high-speed and high-quality construction of the navy of people, the navy of China goes from offshore to deep sea. The time, position, speed and attitude information with high precision and high reliability is the most important benchmark guarantee and feasibility support of the ocean monitoring basic platform, and the importance of the time, position, speed and attitude information is self-evident. For most of the current scientific research ships, the physical ocean exploration works based on a deep sea towing system, the deep towing system needs a photoelectric composite cable of several kilometers, the scientific research ships tow at a slow speed, and the underwater deep towing system is provided with positioning services only based on USBL signals. For today's deep towed systems, such designs typically present several problems: (1) the photoelectric composite cable with the length of several kilometers is needed, the cost is high, and the scientific investigation ship needs to drag and operate at any moment, so that the deep dragging and sinking of the bottom are avoided, and the releasing and recovering work is complicated; (2) based on the current deep-towed system, the system is only in a USBL positioning mode, cannot provide high-precision position information, and cannot provide high-precision and high-reliability reference information for underwater physical prospecting equipment. Under complex working conditions such as deep and far sea, the integrated navigation technology performs information fusion on various underwater and water sensors to obtain high-precision, high-frequency and high-reliability underwater and water integrated navigation positioning and time service.
Disclosure of Invention
The invention provides an overwater and underwater integrated unmanned system and method, and aims to solve the problems that in the prior art, an optoelectronic composite cable is high in dragging cost, and a deep dragging system is low in positioning accuracy.
The invention specifically adopts the following technical scheme:
an overwater and underwater integrated unmanned system comprises an unmanned ship formation, a scientific research ship and an underwater AUV carrying a deep towing system, wherein the overwater and underwater integrated unmanned system takes the scientific research ship as a main control base station platform, and the unmanned ship formation is a slave station;
the method comprises the following steps that a scientific research ship and an unmanned ship are provided with USBL which can serve as LBL, and the USBL is combined with DVL and INS equipment arranged in an underwater AUV to form an underwater mixed base line + DVL + INS positioning, speed measuring and attitude measuring system; the underwater AUV includes: GNSS receiver, IMU, USBL equipment, DVL, deep-towed system and communication equipment.
Preferably, the scientific investigation ship is provided with a master control system for controlling the formation of the unmanned ship on water to move, recover, release information, acquire and store data and display and control, and the formation of the unmanned ship provides a high-precision position reference for the underwater AUV based on a multi-sensor high-precision positioning result; the underwater AUV realizes a high-precision positioning result based on a mixed baseline, carries a deep towing system to realize an underwater terrain environment monitoring task, and transmits measured data to a scientific investigation ship based on an underwater acoustic communication device.
Preferably, the USBL device is installed at the bottom of the unmanned ship, the transducer emits acoustic signals with specific frequency and receives signals returned from the transponder, high-precision position information is provided for the underwater AUV based on the USBL, and time information is determined through the AUV self high-precision crystal oscillator.
A use method of an integrated underwater/water unmanned system comprises the following steps:
s1, realizing high-precision positioning, speed measurement and attitude measurement of formation of a scientific investigation ship and an unmanned ship based on a multi-antenna GNSS/INS combined mode;
s2, controlling the formation and navigation tasks of the unmanned ship by the scientific investigation ship to meet the optimal configuration;
and S3, carrying a sensor on the traditional deep towing system on an underwater AUV (autonomous underwater vehicle) device, and realizing the survey of the underwater marine environment by the scientific investigation ship by controlling the overwater and underwater integrated unmanned formation system.
Preferably, step S1 includes: s1.1, the GNSS multi-frequency multi-system receiver obtains a high-precision real-time absolute position of a main antenna through real-time precision correction information;
s1.2, acquiring three-antenna observation information, and resolving through a real-time dynamic baseline to obtain attitude information of a carrier;
s1.3, the main antenna outputs a pulse per second signal, and time synchronization of GNSS/IMU/DVL is realized based on a signal of 1 PPS;
and S1.4, realizing data fusion of the position, speed and attitude information resolved based on the multi-antenna GNSS and the IMU/DVL, and constructing a position, speed and attitude fully-combined mode to obtain high-precision carrier information.
Preferably, step S2 includes: s2.1, controlling the navigation speed and direction of the unmanned ship by the scientific investigation ship through a control system of a main control console;
s2.2, determining the configuration of the sea unmanned ship formation by GDOP: GDOP ═ sqrt (9/n); the method comprises the following steps that n is the number of unmanned ships on the sea surface, and when the configuration of the unmanned ships meets the optimal configuration, the unmanned ships are positioned through a non-differential/differential algorithm of LBL/USBL;
s2.3, when the formation position of the unmanned ship changes under the action of wind waves and does not meet the optimal configuration, the main controller of the scientific investigation ship sends the offset relative position of the unmanned ship through wireless communication equipment, the wireless communication of the unmanned ship obtains the information of the scientific investigation ship, and the unmanned ship controller controls the ship body.
Preferably, step S3 includes: s3.1, carrying a sensor on a traditional deep towing system on an underwater AUV (autonomous underwater vehicle) device for exploration and investigation of large underwater topography of the ocean;
s3.2, the scientific investigation ship sends a control instruction through a wireless communication technology to control the unmanned ship to form a team to reach a designated measuring area;
s3.3, the underwater AUV realizes AUV navigation control according to a water depth instruction set by the scientific investigation ship, and the underwater AUV reaches a designated area and advances at the same speed as the unmanned ship;
and S3.4, surveying the ocean underwater topography by the underwater AUV through the carried multiple sensors, transmitting the measured data to the scientific investigation ship by using acoustic signals, and performing real-time local storage on the AUV.
And propelling the equipment to enable the unmanned ship to restore to the relative position of the unmanned ship in the optimal configuration.
Compared with the prior art, the invention effectively solves the problems of high-precision positioning, speed measurement and attitude measurement of the deep-towed system and other underwater carriers, and obviously improves the AUV positioning precision and the working efficiency under deep and far seawater.
Drawings
FIG. 1 is a structural block diagram of an integrated unmanned underwater and above water system;
fig. 2 is a schematic diagram of an integrated unmanned underwater system.
Detailed Description
The following embodiments are further illustrated in the following description:
an overwater and underwater integrated unmanned system comprises an unmanned ship formation, a scientific research ship and an underwater AUV carrying a deep towing system, wherein the overwater and underwater integrated unmanned system takes the scientific research ship as a main control base station platform, and the unmanned ship formation is a slave station;
the method comprises the following steps that a scientific research ship and an unmanned ship are provided with USBL which can serve as LBL, and the USBL is combined with DVL and INS equipment arranged in an underwater AUV to form an underwater mixed base line + DVL + INS positioning, speed measuring and attitude measuring system; the underwater AUV includes: GNSS receiver, IMU, USBL equipment, DVL, deep-towed system and communication equipment.
Preferably, the scientific investigation ship is provided with a master control system for controlling the formation of the unmanned ship on water to move, recover, release information, acquire and store data and display and control, and the formation of the unmanned ship provides a high-precision position reference for the underwater AUV based on a multi-sensor high-precision positioning result; the underwater AUV realizes a high-precision positioning result based on a mixed baseline, carries a deep towing system to realize an underwater terrain environment monitoring task, and transmits measured data to a scientific investigation ship based on an underwater acoustic communication device.
Preferably, the USBL device is installed at the bottom of the unmanned ship, the transducer emits acoustic signals with specific frequency and receives signals returned from the transponder, high-precision position information is provided for the underwater AUV based on the USBL, and time information is determined through the AUV self high-precision crystal oscillator.
A use method of an integrated underwater/water unmanned system comprises the following steps:
s1, realizing high-precision positioning, speed measurement and attitude measurement of formation of a scientific investigation ship and an unmanned ship based on a multi-antenna GNSS/INS combined mode;
s2, controlling the formation and navigation tasks of the unmanned ship by the scientific investigation ship to meet the optimal configuration;
and S3, carrying a sensor on the traditional deep towing system on an underwater AUV (autonomous underwater vehicle) device, and realizing the survey of the underwater marine environment by the scientific investigation ship by controlling the overwater and underwater integrated unmanned formation system.
Preferably, step S1 includes: s1.1, the GNSS multi-frequency multi-system receiver obtains a high-precision real-time absolute position of a main antenna through real-time precision correction information;
s1.2, acquiring three-antenna observation information, and resolving through a real-time dynamic baseline to obtain attitude information of a carrier;
s1.3, the main antenna outputs a pulse per second signal, and time synchronization of GNSS/IMU/DVL is realized based on a signal of 1 PPS;
and S1.4, realizing data fusion of the position, speed and attitude information resolved based on the multi-antenna GNSS and the IMU/DVL, and constructing a position, speed and attitude fully-combined mode to obtain high-precision carrier information.
Preferably, step S2 includes: s2.1, controlling the navigation speed and direction of the unmanned ship by the scientific investigation ship through a control system of a main control console;
s2.2, determining the configuration of the sea unmanned ship formation by GDOP: GDOP ═ sqrt (9/n); the method comprises the following steps that n is the number of unmanned ships on the sea surface, and when the configuration of the unmanned ships meets the optimal configuration, the unmanned ships are positioned through a non-differential/differential algorithm of LBL/USBL;
s2.3, when the formation position of the unmanned ship changes under the action of wind waves and does not meet the optimal configuration, the main controller of the scientific investigation ship sends the offset relative position of the unmanned ship through wireless communication equipment, the wireless communication of the unmanned ship obtains the information of the scientific investigation ship, and the unmanned ship controller controls the ship body.
Preferably, step S3 includes: s3.1, carrying a sensor on a traditional deep towing system on an underwater AUV (autonomous underwater vehicle) device for exploration and investigation of large underwater topography of the ocean;
s3.2, the scientific investigation ship sends a control instruction through a wireless communication technology to control the unmanned ship to form a team to reach a designated measuring area;
s3.3, the underwater AUV realizes AUV navigation control according to a water depth instruction set by the scientific investigation ship, and the underwater AUV reaches a designated area and advances at the same speed as the unmanned ship;
and S3.4, surveying the ocean underwater topography by the underwater AUV through the carried multiple sensors, transmitting the measured data to the scientific investigation ship by using acoustic signals, and performing real-time local storage on the AUV.
And propelling the equipment to enable the unmanned ship to restore to the relative position of the unmanned ship in the optimal configuration.
The scientific investigation ship is used as a base station scientific investigation ship to realize the integral control, data processing and real-time monitoring of the water and underwater carriers of the system;
the unmanned ship forms an overwater ship body formation with the scientific investigation ship to provide position reference and navigation control for the underwater AUV;
the GNSS receiver is used for acquiring coordinates and attitude information of a ground-fixed coordinate system of a scientific investigation ship and an unmanned ship formation;
the IMU gives angular velocity and acceleration information of a scientific investigation ship, an unmanned ship and an AUV, and position, velocity and attitude information at any moment after continuous calculation is carried out with an additional error according to a group of initial position, velocity and attitude information through an IMU algorithm;
the USBL sensor can realize high-precision positioning of the underwater AUV in a mixed baseline positioning mode;
the DVL measures the underwater AUV relative to the seabed speed based on the Doppler velocity measurement principle;
the deep-towed system is a deep-sea geological and geophysical comprehensive observation instrument system mounted on an AUV (autonomous underwater vehicle) device and mainly carries sensors such as a multi-beam sensor, a side-scan sonar sensor and a shallow-stratum profiler;
the communication equipment comprises a satellite communication machine for acquiring real-time precise correction information from a satellite, and wireless communication for realizing data information transmission, carrier communication, carrier monitoring and the like.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (7)
1. An overwater and underwater integrated unmanned system is characterized by comprising an unmanned ship formation, a scientific research ship and an underwater AUV carrying a deep towing system, wherein the overwater and underwater integrated unmanned system takes the scientific research ship as a main control base station platform, and the unmanned ship formation is a slave station;
the method comprises the following steps that a scientific research ship and an unmanned ship are provided with USBL which can serve as LBL, and the USBL is combined with DVL and INS equipment arranged in an underwater AUV to form an underwater mixed base line + DVL + INS positioning, speed measuring and attitude measuring system; the underwater AUV includes: GNSS receiver, IMU, USBL equipment, DVL, deep-towed system and communication equipment.
2. The integrated overwater and underwater unmanned system according to claim 1, wherein the scientific investigation ship is provided with a main control system for controlling the formation, movement, recovery, information release, data acquisition and storage and display control of the overwater unmanned ship, and the formation of the unmanned ship provides a high-precision position reference for an underwater AUV (autonomous underwater vehicle) based on a multi-sensor high-precision positioning result; the underwater AUV realizes a high-precision positioning result based on a mixed baseline, carries a deep towing system to realize an underwater terrain environment monitoring task, and transmits measured data to a scientific investigation ship based on an underwater acoustic communication device.
3. The integrated unmanned system on water and underwater according to claim 1, wherein the USBL device is installed at the bottom of the unmanned ship, the transducer emits acoustic signals with specific frequency and receives signals returned from the transponder, high-precision position information is provided for the underwater AUV based on the USBL, and time information is determined through the AUV self high-precision crystal oscillator.
4. A method of using the integrated underwater/water unmanned system according to any one of claims 1 to 3, comprising:
s1, realizing high-precision positioning, speed measurement and attitude measurement of formation of a scientific investigation ship and an unmanned ship based on a multi-antenna GNSS/INS combined mode;
s2, controlling the formation and navigation tasks of the unmanned ship by the scientific investigation ship to meet the optimal configuration;
and S3, carrying a sensor on the traditional deep towing system on an underwater AUV (autonomous underwater vehicle) device, and realizing the survey of the underwater marine environment by the scientific investigation ship by controlling the overwater and underwater integrated unmanned formation system.
5. The use method of the integrated unmanned underwater/marine system as claimed in claim 4, wherein the step S1 comprises: s1.1, the GNSS multi-frequency multi-system receiver obtains a high-precision real-time absolute position of a main antenna through real-time precision correction information;
s1.2, acquiring three-antenna observation information, and resolving through a real-time dynamic baseline to obtain attitude information of a carrier;
s1.3, the main antenna outputs a pulse per second signal, and time synchronization of GNSS/IMU/DVL is realized based on a signal of 1 PPS;
and S1.4, realizing data fusion of the position, speed and attitude information resolved based on the multi-antenna GNSS and the IMU/DVL, and constructing a position, speed and attitude fully-combined mode to obtain high-precision carrier information.
6. The use method of the integrated unmanned underwater/marine system as claimed in claim 4, wherein the step S2 comprises: s2.1, controlling the navigation speed and direction of the unmanned ship by the scientific investigation ship through a control system of a main control console;
s2.2, determining the configuration of the sea unmanned ship formation by GDOP: GDOP ═ sqrt (9/n); the method comprises the following steps that n is the number of unmanned ships on the sea surface, and when the configuration of the unmanned ships meets the optimal configuration, the unmanned ships are positioned through a non-differential/differential algorithm of LBL/USBL;
s2.3, when the formation position of the unmanned ship changes under the action of wind waves and does not meet the optimal configuration, the main controller of the scientific investigation ship sends the offset relative position of the unmanned ship through wireless communication equipment, the wireless communication of the unmanned ship obtains the information of the scientific investigation ship, and the unmanned ship controller controls the ship body.
7. The use method of the integrated unmanned underwater/marine system as claimed in claim 4, wherein the step S3 comprises: s3.1, carrying a sensor on a traditional deep towing system on an underwater AUV (autonomous underwater vehicle) device for exploration and investigation of large underwater topography of the ocean;
s3.2, the scientific investigation ship sends a control instruction through a wireless communication technology to control the unmanned ship to form a team to reach a designated measuring area;
s3.3, the underwater AUV realizes AUV navigation control according to a water depth instruction set by the scientific investigation ship, and the underwater AUV reaches a designated area and advances at the same speed as the unmanned ship;
s3.4, surveying the ocean underwater topography by the underwater AUV through the carried multiple sensors, transmitting the measured data to a scientific investigation ship by acoustic signals, and performing real-time local storage of the AUV;
and propelling the equipment to enable the unmanned ship to restore to the relative position of the unmanned ship in the optimal configuration.
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| CN114706408A (en) * | 2022-06-06 | 2022-07-05 | 山东科技大学 | Low-power consumption intelligent underwater robot control system |
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Application publication date: 20220107 |