Data-driving-based AUV (Autonomous Underwater Vehicle) undersea target search navigation system and method

Abstract

The invention discloses a data-driving-based AUV (Autonomous Underwater Vehicle) undersea target search navigation system and method. The system comprises a task information processing module, a side-scan sonar, a target characteristic extraction module, a height gauge, a first-stage path generation module, a second-stage path generation module, a third-stage path generation module, an independentdecision-making module and an AUV actuating mechanism; the task information processing module receives task information and processes the task information in combination with a position state of an AUV to acquire dynamic grid chart coordinates; the first-stage path generation module generates a first-stage path point set; the side-scan sonar detects a sonar image; the target characteristic extraction module transmits coordinates of a target region to the second-stage path generation module to generate a second-stage path point set; height data measured by the height gauge are transmitted to the third-stage path generation module to generate a third-stage path point set; and finally, the independent decision-making module acquires an AUV path based on the three point sets and transmits theAUV path to the AUV actuating mechanism. The data-driving-based AUV undersea target search navigation system can search an undersea target and realize collision preventation of set-height navigationand can improve the undersea target search efficiency.

Description

technical field [0001] The invention belongs to the field of seabed detection, and in particular relates to a data-driven AUV seabed target search navigation system and method. Background technique [0002] AUVs have a wide range of applications in the military, economic and scientific fields to perform marine survey tasks. However, at present, AUVs are used to carry out survey tasks. Whether the routes, behaviors or actions of AUVs are pre-planned or designed offline planning, the role of AUVs is only a motion observation platform equipped with detection sensors; moreover, the marine environment is unknown. , dynamic and uncertain, AUV does not have the ability to make independent decisions, which will cause the quality of the collected data to be low, unreliable, or even invalid. Moreover, the efficiency of marine survey is low, which seriously affects the further application of AUV. [0003] Such as figure 1 As shown, the traditional navigation methods for nautical cha...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to solve the defects of long search time and low search efficiency in the traditional target search method, overcome the above-mentioned defects in the prior art, and propose a data-driven AUV submarine target search navigation system and method, Real-time optimization of the AUV navigation path is realized by online calculation of the feature density of the search target, effectively reducing unnecessary inefficient navigation

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