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Full-drive AUV recovery control system and independent recovery method

A technology of control system and recovery method, which is applied in the field of robots, can solve the problems of weight degradation, low autonomy and concealment, and inability to hover, locate and calibrate, etc.

Active Publication Date: 2018-12-18
JIANGSU UNIV OF SCI & TECH
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The particle filter uses the sequential Monte Carlo method to solve the problem that the convergence of the EKF and UKF algorithms drops sharply or even diverges when the nonlinear / non-Gaussian is strong. weight degradation problem
[0005] The application number "201310639638.5" is titled "A recovery system and recovery method for an autonomous underwater vehicle". This method is simple and effective, but it relies on the traction rope shot out by the staff for passive fishing, and its autonomy and concealment are not high.
The application number is "201310141292.6" and the name is "A method for long-distance precise autonomous loading and docking control of an underactuated underwater robot". Due to the limitation of the underactuated structure, this method can only indirectly eliminate lateral errors and depth errors, and cannot hover for positioning and calibration. High requirements on controller and positioning algorithm

Method used

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  • Full-drive AUV recovery control system and independent recovery method
  • Full-drive AUV recovery control system and independent recovery method
  • Full-drive AUV recovery control system and independent recovery method

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Embodiment Construction

[0085] The present invention will be further described below in conjunction with the accompanying drawings and specific examples.

[0086] Such as figure 1 As shown, the AUV recovery control system consists of a recovery unit 1 and an AUV underwater control system. The recovery unit 1 is placed on the seabed plane or suspended on the ship by a bracket, and the underwater control system is installed on the fully driven autonomous underwater robot.

[0087] figure 1 The middle recovery unit 1 adopts a bell-mouth method, and its external structure is composed of a conical guide cover 4 and a conduit 5 . Among them, the underwater acoustic transceiver 2 is installed on both sides of the conical guide cover 4; the light group 6 includes 4 underwater lights, which are installed on the outer edge of the conical guide cover 4 in a rhombus geometric relationship; the camera 3 is installed on the circular guide cover 4 The rear part and the 5 necks of the conduit are used for base st...

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PUM

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Abstract

The invention discloses a full-drive AUV recovery control system and an independent recovery method, and provides a hardware structure for a full-drive AUV recovery docking control system, an independent recovery method for keeping linear tracking and hovering calibration by using dynamic positioning, and a dynamic positioning state estimation method based on adaptive unscented particle filter toimprove the stability of AUV recovery docking. The adopted adaptive unscented particle filter algorithm is used for estimating the statistical characteristics of unknown noise by Saga-Husa, and the advantages of the particle filter and the UKF algorithm are complementary by using particle distribution in combination with approximate state posterior distribution. The tracking filter effect is better under the influence of external disturbance, physical characteristics of acceleration and human manipulation, the stability of dynamic positioning is effectively improved, and the success rate of independent recovery is improved.

Description

technical field [0001] The invention relates to a fully-driven autonomous underwater robot, in particular to a recovery control system and an autonomous recovery method for a fully-driven autonomous underwater robot, belonging to the technical field of robots. Background technique [0002] Autonomous underwater vehicle (AUV) is currently a hot spot in the development of marine engineering technology, and it is playing an increasingly extensive role in marine resource exploration, submarine engineering operations, scientific research and many other aspects. Due to the AUV's own energy limitations, when the AUV completes a certain amount of tasks, it usually needs to be docked and recovered underwater for timely energy supply and data exchange. At the same time, the task for the next period of time will be issued, and the AUV will be deployed underwater again for exploration. and job tasks. [0003] At this stage, AUV recovery generally adopts an underwater recovery device wi...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05D1/08G05D1/04
CPCG05D1/048G05D1/0875G05D1/10
Inventor 曾庆军周启润朱志宇叶辉包灵卉
Owner JIANGSU UNIV OF SCI & TECH
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