Method for automatically searching and positioning specific underwater target

Abstract

The invention discloses a method for automatically searching and positioning a specific underwater target. An autonomous underwater vehicle (AUV) serves as a movable sonar signal receiving transducerarray, thus underwater sonar images are collected more conveniently, more efficiently and more comprehensively, the positioning precision of the AUV is improved through an EKF-SLAM algorithm and a chip-scale atomic clock (CSAC), an optical and acoustic image data feature set of the specific underwater target is formed by applying machine learning, possible target data are transmitted back to a mother ship for manual secondary judgment after the AUV is subjected to feature identification, and the target searching efficiency is greatly improved.

Description

technical field [0001] The invention provides a method for automatically searching and locating a specific underwater target, which belongs to the field of underwater detection. Background technique [0002] The earth is a big water ball. The total area of ​​the ocean is about 360 million square kilometers, accounting for about 71% of the earth's surface area. Ocean transportation is one of the most important modes of transportation in the international exchange of goods, and the cargo transportation volume accounts for more than 80% of the total international cargo transportation volume. The ocean is also a rich source of biological and mineral resources. The seabed is very rich in minerals, rich in energy minerals, coal, oil, natural gas, combustible ice, etc., and 88 billion tons of rare earth ores, which can extract manganese, iron, nickel and other minerals. Future energy deuterium and tritium can also be extracted in seawater . [0003] In the investigation, valuat...

AI Technical Summary

Problems solved by technology

[0011] 1) The underwater wireless communication bandwidth is limited, which cannot meet the real-time image data return

[0012] 2) Limited by the fixed shape and distribution of the sonar array, multiple sonar arrays are required to continuously adjust the position of the receiving transducer to obtain more accurate underwater sonar images

[0013] 3) Due to the rapid attenuation of electromagnetic waves in water, the underwater UUV cannot accurately locate its own position through GPS signals, and relying only on the inertial navigation of UUV will make the positioning error more and more large, beyond what can be achieved. Acceptance range

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