Trajectory optimization method and device for accurately putting marine sensor underwater

Abstract

The invention belongs to the field of ocean engineering and technology, and discloses a trajectory optimization method and device for accurately putting an ocean sensor underwater. The method comprises the following steps: 1, randomly selecting N groups of initial control variables in a range; 2, inputting all the N groups of xi into an underwater gliding kinematics and dynamics model of a sensor, and calculating the minimum distance between N actual putting positions and a target putting position; 3, judging whether the number of iterations is smaller than a preset value or not, if yes, performing global random walk and local random walk on the N groups of xi to obtain the N groups of xi again, and returning to the step 2, or otherwise, entering the step 4; and 4, outputting a control variable [xi] corresponding to the [delta]s(x)nminmin and a corresponding track as an optimal control variable and an optimal track. According to the method, the precision of underwater three-dimensional trajectory prediction of the ocean sensor can be improved, trajectory optimization is carried out for a specific point-to-point launching task, and high-precision underwater launching work of the ocean sensor is realized.

Description

technical field [0001] The invention belongs to the field of marine engineering and technology, in particular to the field of underwater launching operations of marine sensors, and more specifically relates to a trajectory optimization method and equipment for accurately launching marine sensors underwater. Background technique [0002] Most of the marine environment detection sensors are cylindrical or approximately cylindrical devices, which are widely used in the field of marine monitoring and observation. They can measure and provide various marine environmental elements. They are not only used in marine scientific research, but also in the field of marine resource development. Indispensable and important data source. Taking the temperature, salinity and depth measuring instrument (CTD) as an example, the temperature, salinity and depth measuring instrument can adapt to various observation methods including fixed-point self-contained observation, disposable probe observa...

AI Technical Summary

Problems solved by technology

[0005] The above two 3D motion models do not calculate the lateral force caused by asymmetric vortex shedding, especially when the velocity around the cylinder is very high, the lateral force caused by the asymmetric vortex is very large and the lateral motion will be very significant. It will lead to the loss of lateral dimension information during trajectory prediction, resulting in huge prediction errors

Moreover, the ideal flow assumption is used in the calculation of the lift generated by the axial rotation of the cylinder in the second file, ignoring the viscous effect of water, so that the estimated value of the lift is greater than the actual value

[0006] In addition, the first two comparative documents only predict the trajectory of the cylinder, and do not optimize the trajectory. Therefore, when performing the underwater launch task of the marine environment detection sensor, the quality and accuracy of the completion are not guaranteed.

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