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AUV collision avoidance function verification method

A technology for functional verification and collision avoidance, which is applied to instruments, control/regulation systems, vehicle position/route/altitude control, etc. It can solve the problems of high risk and collision of AUV collision avoidance function verification, and achieve a clear, feasible and verified method. Process safety and the effect of improving test efficiency

Active Publication Date: 2020-05-19
中国船舶重工集团有限公司第七一0研究所
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  • Application Information

AI Technical Summary

Problems solved by technology

Obviously, in order to verify fully and get close to the actual situation, some real obstacles must be selected, and the autonomous route of the AUV is planned to make it pass through the obstacles to verify that the design of the collision avoidance function meets the requirements. However, once there are defects in the design, it will lead to AUV crashes into chosen obstacle, severe test accident
In summary, the risk of AUV collision avoidance function verification is relatively high, and the consequences of accidents are serious

Method used

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  • AUV collision avoidance function verification method
  • AUV collision avoidance function verification method
  • AUV collision avoidance function verification method

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Embodiment Construction

[0022] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0023] This embodiment provides a verification method for AUV collision avoidance function, such as figure 1 As shown, the verification method is as follows: Step 1, obtain AUV-related navigation parameters; Step 2, select a suitable target obstacle; Step 3, obtain the detection and recognition distance of AUV obstacles; Step 4, evaluate whether the collision avoidance function meets the requirements; Step 5, Approaching obstacles and simulating avoidance; step 6, passing through obstacles to verify the collision avoidance function.

[0024] Specific steps are as follows:

[0025] Step 1. Obtain the relevant main navigation parameters of the AUV through the actual navigation of the AUV, mainly including the stop and turn deceleration distance ld and the navigation depth control error dr. Among them, the stopping and turning deceleration distance ld is ca...

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Abstract

The invention discloses an AUV collision avoidance function verification method which comprises the following steps: acquiring AUV related navigation parameters, acquiring an AUV obstacle detection and recognition distance, and performing operations such as approaching obstacle simulation avoidance, obstacle crossing collision avoidance and the like, thereby completing collision avoidance functionverification. The method can reduce the test risk and improve the test efficiency and is simple and efficient, clear and feasible, lower in implementation difficulty and safe in verification process.

Description

technical field [0001] The invention belongs to the technical field of AUV (Underwater Autonomous Unmanned Vehicle), and in particular relates to a verification method for an AUV collision avoidance function. Background technique [0002] With the development and maturity of AUV technology, practical applications have gradually begun in the fields of ocean detection and military reconnaissance. AUVs work in the depths of the ocean, and its marine environment information is often difficult to fully grasp in advance, or even not grasped. It is difficult to completely avoid unexpected objects such as hidden reefs, steep walls, and shipwrecks on the AUV route planning process, which may cause AUVs to collide. Accidents and unbearable consequences also affect the application and development of AUVs. Therefore, advanced AUVs are usually equipped with obstacle detection devices such as collision avoidance sonar to enable AUVs to have certain collision avoidance functions and impro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 周俊熊华乔徐从营邢安安张宝贵牛群峰
Owner 中国船舶重工集团有限公司第七一0研究所
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