Integrated acoustic positioning and tracking control method for autonomous underwater vehicle

An underwater vehicle, acoustic positioning technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of not considering positioning accuracy, environmental interference, etc.

Active Publication Date: 2021-06-11
ZHEJIANG UNIV
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Problems solved by technology

Most of the existing technologies solve the AUV positioning and control problems separately, without considering the impact of positioning accuracy, environmental interference and other factors on AUV motion control

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  • Integrated acoustic positioning and tracking control method for autonomous underwater vehicle
  • Integrated acoustic positioning and tracking control method for autonomous underwater vehicle
  • Integrated acoustic positioning and tracking control method for autonomous underwater vehicle

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Embodiment Construction

[0028] The present invention will be further elaborated and described below in combination with specific embodiments. The technical features of the various implementations in the present invention can be combined accordingly on the premise that there is no conflict with each other.

[0029] In order to elaborate on the present invention, the following is divided into four parts: AUV dynamics and ocean current modeling, AUV acoustic positioning, AUV predictive tracking control and simulation experiments based on EKF and acoustic positioning, to describe the specific content and technical effects of the embodiments of the present invention .

[0030] 1. AUV dynamics and ocean current modeling

[0031] In order to realize the autonomous motion control of AUV, the dynamic modeling of AUV is firstly carried out. The kinematics model expresses the relationship between the displacement and velocity of the AUV. The dynamics model establishes the relationship between mass, additional...

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Abstract

The invention discloses an integrated acoustic positioning and tracking control method for an autonomous underwater vehicle. According to the method, three buoys for emitting periodic acoustic signals are arranged on the water surface, and the position of the AUV is estimated according to the time when the three signals reach the AUV and the sound velocity profile. Meanwhile, system uncertainty caused by position estimation and ocean current interference is processed through extended Kalman filtering; in order to effectively process physical constraint conditions of an AUV system and achieve a certain optimal tracking effect, an AUV hydrodynamic model is considered, and a path tracking model predictive control (MPC) device is designed. Because positioning and control have different sampling time, track plotting is carried out on the control time step of silent mechanical positioning information by using an AUV nominal model. In consideration of the real-time performance of the algorithm, a continuous linearization method under an MPC framework is adopted to carry out approximate processing on a system model, and the balance between the control effect and the calculation efficiency is obtained.

Description

technical field [0001] The invention belongs to the intelligent technology of marine mobile platforms, and relates to an integrated design method for acoustic positioning and path tracking control of autonomous underwater vehicles (AUVs), especially for the acoustic positioning and environmental disturbances such as ocean currents. Deterministic, a system state estimation algorithm based on extended Kalman filter is proposed to solve the problem of difficult positioning and movement easily affected by ocean currents in the AUV underwater environment. Background technique [0002] Autonomous underwater vehicles (AUVs) have been widely used in various occasions such as military, commercial, ocean observation and resource detection. Compared with traditional underwater vehicles, AUVs do not require human drivers to work in dangerous and harsh underwater environments. Compared with remotely controlled underwater vehicles with cables, AUVs can reach a wider underwater space, and...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郑华荣詹东洲徐文
Owner ZHEJIANG UNIV
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