基于正交移动双水下自主潜航器的水下合作目标定位方法

赵晨; 乔钢; 周锋

doi:10.11999/JEIT200570

基于正交移动双水下自主潜航器的水下合作目标定位方法

doi: 10.11999/JEIT200570

1.
哈尔滨工程大学水声技术重点实验室哈尔滨 150001
2.
工业和信息化部海洋信息获取与安全工信部重点实验室(哈尔滨工程大学) 哈尔滨 150001
3.
哈尔滨工程大学水声工程学院哈尔滨 150001

基金项目: 国家自然科学基金(61771152, 61601136, 11774074)，国家重点研发项目(2017YFC0305702)

详细信息

作者简介:
赵晨：男，1993年生，博士生，研究方向为水下目标定位、水声网络定位、长基线定位

乔钢：男，1974年生，博士，教授，博士生导师，研究方向为水声通信、水声探测

周锋：男，1980年生，博士，教授，博士生导师，研究方向为水声通信网络、水声网络导航定位

通讯作者:
周锋　zhoufeng@hrbeu.edu.cn

中图分类号: TN929.3
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- 被引次数: 0
出版历程
- 收稿日期: 2020-07-10
- 修回日期: 2021-01-29
- 网络出版日期: 2021-02-23
- 刊出日期: 2021-03-22

Underwater Cooperative Target Localization Method Based on Double Orthogonal Moving Autonomous Underwater Vehicles

1.
Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China
2.
Key Laboratory of Marine Information Acquisition and Security(Harbin Engineering University), Ministry of Industry and Information Technology, Harbin 150001, China
3.
College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China

Funds: The National Natural Science Foundation of China (61771152, 61601136, 11774074), The National Key Research and Development Program of China (2017YFC0305702)

摘要

摘要: 利用水下自主潜航器(AUV)定位是水下大区域静止目标定位主要方法之一。针对单AUV定位存在的定位周期长，定位覆盖区域低，长时间定位误差累积大的缺陷，该文提出一种基于正交运动的双AUV的静止目标定位方法。每个AUV通过自身携带的惯性导航系统(INS)和多普勒计程仪进行自身定位，并在多次运动过程中通过与静止目标间的通信时延差测量进行定位。该方法需要2个相对航向角呈90°的正交移动AUV通过最少2次与静止目标间通信完成次定位。相比于传统的单移动传感器定位方法，该算法需要的定位周期更短，对同步要求更低。实验结果表明，该方法定位精度有显著提高，同时有效定位区域增大，在长时间定位过程中对AUV位置误差影响更低。
- 水声定位 /
- 水声通信 /
- 水声传感器网络 /
- 水下自主潜航器导航定位
Abstract: Autonomous Underwater Vehicle (AUV) localization is one of the main methods to locate underwater targets in large areas. Considering the defects of single AUV positioning, such as long positioning period, low positioning coverage area and large accumulation of positioning errors for a long time, a cooperative target localization method based on double orthogonal moving AUVs is proposed. Each AUV locates itself through its own Inertial Navigation System (INS) and Doppler log. Localization process is achieved through the measurement of time difference of arrive between the target and AUV in the course of multiple movements. This method requires two orthogonal moving AUVs with a relative heading angle of 90°to achieve one positioning process by communicating at least two times. Compared with the traditional single mobile sensor positioning method, the proposed method requires shorter positioning period and lower synchronization requirements. Experimental results show that the positioning accuracy of this method is significantly improved, while the effective positioning area is enlarged, and the influence on AUV position error is lower in the long time positioning process.
- Underwater localization /
- Underwater communication /
- Underwater sensors network /
- Autonomous Underwater Vehicle (AUV) navigation

HTML全文

图 1 单移动AUV静止目标定位示意图

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图 2 单移动AUV球面交汇算法原理示意图

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图 3 正交运动AUV静止目标定位示意图

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图 4 正交运动AUV定位算法原理示意图

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图 5 正交运动AUV定位流程图

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图 6 单AUV运动路径规划图

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图 7 两种定位方法定位误差分布图

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图 8 随机位置静止目标定位结果图

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图 9 不同航向角定位误差随AUV移动距离变化关系图

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图 10 加入同步误差后两种定位方法定位误差分布图

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图 11 正交定位误差与AUV之间航向角误差关系

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图 12 定位误差与通信次数关系图

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