CN-121977530-A - Unmanned underwater vehicle communication navigation positioning system and method based on unmanned plane

CN121977530ACN 121977530 ACN121977530 ACN 121977530ACN-121977530-A

Abstract

The invention belongs to the technical field of unmanned underwater vehicles, and particularly relates to an unmanned underwater vehicle communication navigation positioning system and method based on an unmanned aerial vehicle. According to the invention, seamless data transmission between underwater and above water surface is realized through an unmanned aerial vehicle relay communication mechanism, the problems of low bandwidth and high delay caused by the fact that traditional underwater communication is limited by a propagation medium are effectively solved, a dual-mode cooperative positioning mode architecture is adopted, a visual auxiliary positioning mode and an acoustic auxiliary positioning mode are dynamically switched according to water environment parameters, accuracy is ensured by utilizing high-resolution visual positioning in a shallow water area, reliable communication is maintained through acoustic positioning in a deep water area, the adaptability problem of a single positioning technology in an underwater complex environment is solved, and meanwhile, a sliding time window prediction mechanism is introduced, so that an unmanned aerial vehicle can adjust a flight path in advance, the cooperative positioning efficiency and the data return stability are improved, and more reliable positioning support is provided for underwater navigation of an unmanned underwater vehicle.

Inventors

RONG LETIAN
Cao Bingning

Assignees

青岛城市学院

Dates

Publication Date: 20260505
Application Date: 20260204

Claims (10)

1. The unmanned underwater vehicle communication navigation positioning method based on the unmanned plane is characterized by comprising the following steps of: an acoustic communication link is configured between the unmanned aerial vehicle and the unmanned underwater vehicle, a wireless communication link is established between the unmanned aerial vehicle and a shore-based control center, and interconnection and intercommunication of above-water wireless communication and underwater acoustic communication are realized through unmanned aerial vehicle relay; Acquiring the submergence depth of the unmanned underwater vehicle and the water transparency of the submergence water area, and selecting a co-positioning mode of the unmanned underwater vehicle to the unmanned underwater vehicle according to the submergence depth and the water transparency, wherein the co-positioning mode comprises a vision auxiliary positioning mode and an acoustic auxiliary positioning mode; In a vision auxiliary positioning mode, the unmanned aerial vehicle recognizes the unmanned underwater vehicle through an airborne vision sensor to obtain vision observation information, synchronously acquires real-time depth information of the unmanned underwater vehicle, fuses the real-time depth information with the vision observation information, and determines final position coordinates of the unmanned underwater vehicle; In the acoustic auxiliary positioning mode, the unmanned aerial vehicle transmits organism position information with a timestamp to the unmanned underwater vehicle through an acoustic communication link, and the unmanned underwater vehicle calculates and outputs final position coordinates according to signal transmission delay and submergence depth; calculating the position change trend of the unmanned underwater vehicle through a sliding time window, predicting a predicted position interval of the unmanned underwater vehicle at the next moment by combining the historical track, and determining a predicted flight path of the unmanned underwater vehicle according to the predicted position interval; The unmanned aerial vehicle maneuvers to an airspace corresponding to the predicted position interval according to the predicted flight path, corrects the final position coordinate of the unmanned underwater vehicle in real time, and returns to the shore-based control center through a wireless communication link.
2. The method for communication navigation and positioning of unmanned aerial vehicle based on claim 1, wherein the steps of configuring an acoustic communication link between the unmanned aerial vehicle and the unmanned aerial vehicle, and establishing a wireless communication link between the unmanned aerial vehicle and a shore-based control center comprise: an acoustic signal transmitting and receiving device is arranged at the bottom of the unmanned aerial vehicle, and an acoustic signal receiving and transmitting unit is carried on the unmanned underwater vehicle to form a bidirectional acoustic communication link; integrating a wireless communication module on the unmanned aerial vehicle, and erecting a long-distance wireless communication link with a shore-based control center; The unmanned aerial vehicle converts acoustic communication data transmitted back by the unmanned underwater vehicle into wireless signals and forwards the wireless signals to the shore-based control center in real time, and meanwhile, the shore-based instructions are converted into acoustic signals to be issued to the unmanned underwater vehicle, so that information relay between underwater and shore-based is realized.
3. The unmanned underwater vehicle communication navigation and positioning method based on the unmanned aerial vehicle of claim 1, wherein the step of obtaining the submergence depth of the unmanned underwater vehicle and the water transparency of the submergence area comprises the following steps: Acquiring submergence depth data in real time through a pressure sensor carried by the unmanned underwater vehicle, and uploading the submergence depth data to the unmanned aircraft through an acoustic communication link; Remote sensing observation is carried out on the surface of the lower diving domain by utilizing a multispectral imager carried by the unmanned aerial vehicle, and spectral reflection characteristics of a blue-green wave band of the water body are extracted; Calculating the reflectivity proportion relation between a blue light wave band and a green light wave band, and eliminating the influence of ambient light by combining with an atmospheric interference correction parameter, wherein the atmospheric interference correction parameter is obtained by acquiring the ambient illumination intensity and sky polarization information in real time through a weather sensor carried by an unmanned aerial vehicle; Determining a water body diffusion attenuation coefficient according to the reflectivity ratio of the blue light wave band to the green light wave band, and inverting the water body transparency through the diffusion attenuation coefficient; the submerging depth of the unmanned underwater vehicle and the transparency of the water body are synchronously updated according to the same time interval.
4. The unmanned underwater vehicle communication navigation and positioning method based on the unmanned aerial vehicle of claim 1, wherein the step of selecting the co-positioning mode of the unmanned aerial vehicle to the unmanned underwater vehicle according to the submergence depth and the water transparency comprises the following steps: Acquiring a depth threshold value and a transparency threshold value, and comparing the submergence depth and the transparency of the water body with the depth threshold value and the transparency threshold value respectively; when the submergence depth is smaller than the depth threshold value and the transparency of the water body is larger than the transparency threshold value, starting a vision auxiliary positioning mode; When the submergence depth is greater than or equal to a depth threshold value or the transparency of the water body is less than or equal to a transparency threshold value, starting an acoustic auxiliary positioning mode; when the submergence depth is changed from being smaller than the depth threshold value to being larger than or equal to the depth threshold value or the transparency of the water body is changed from being larger than the transparency threshold value to being smaller than or equal to the transparency threshold value, the vision auxiliary positioning mode is immediately switched to the acoustic auxiliary positioning mode; When the submergence depth is changed from greater than or equal to a depth threshold value to less than the depth threshold value and the transparency of the water body is changed from less than or equal to a transparency threshold value to greater than the transparency threshold value, the acoustic auxiliary positioning mode is switched according to a preset hysteresis judgment condition; The hysteresis judgment condition comprises that three continuous sampling satisfies that the submergence depth is smaller than a depth threshold value and the water transparency is larger than a transparency threshold value.
5. The method for communication navigation and positioning of an unmanned underwater vehicle based on an unmanned aerial vehicle according to claim 1, wherein the step of determining final position coordinates of the unmanned underwater vehicle in the vision-aided positioning mode comprises the steps of: capturing a positioning beacon image of the unmanned underwater vehicle below the water surface by the unmanned aerial vehicle through a visual sensor, and identifying pixel coordinates of the positioning beacon in the positioning beacon image; Acquiring real-time pose parameters of the unmanned aerial vehicle, and calculating a horizontal azimuth angle and a pitch angle of a positioning beacon relative to the unmanned aerial vehicle according to the pose parameters, wherein the real-time pose parameters comprise real-time position and pose angle information of the unmanned aerial vehicle; the unmanned aerial vehicle receives the submerging depth sent by the unmanned underwater vehicle, and carries out refraction correction on the pitch angle according to the refraction characteristic of light rays from underwater to air; According to the refraction corrected pitch angle, the horizontal azimuth angle and the submerging depth, performing three-dimensional geometric calculation on the position of the positioning beacon to obtain three-dimensional position coordinates of the unmanned underwater vehicle; And converting the three-dimensional position coordinates into a geographic coordinate system, carrying out coordinate alignment by combining the positioning data of the unmanned aerial vehicle, completing position fusion under the geographic coordinate system, and outputting the final position coordinates of the unmanned underwater vehicle.
6. The unmanned underwater vehicle communication navigation and positioning method based on the unmanned aerial vehicle of claim 1, wherein the step of determining final position coordinates of the unmanned underwater vehicle in the acoustic assisted positioning mode comprises the following steps: The unmanned aerial vehicle sends the body position information with the timestamp to the unmanned underwater vehicle through an acoustic communication link, and records the local time of arrival of the body position information; calculating signal propagation delay according to the time stamp and the local time, and calculating the sound wave transmission distance according to the signal propagation delay; Acquiring the real-time submergence depth of the unmanned underwater vehicle, and calculating and outputting the three-dimensional position coordinates of the unmanned underwater vehicle by combining the sound wave transmission distance; and converting the three-dimensional position coordinates into a geographic coordinate system and outputting final position coordinates of the unmanned underwater vehicle.
7. The unmanned underwater vehicle communication navigation positioning method of claim 1, wherein the step of calculating the position change trend of the unmanned underwater vehicle through the sliding time window and predicting the predicted position interval of the next moment by combining the historical track comprises the following steps: Setting a sliding time window with fixed time length, and continuously collecting the position coordinates of the unmanned underwater vehicle in the sliding time window; calculating a displacement velocity component and an acceleration component of the unmanned underwater vehicle based on the position coordinate sequence in the sliding time window; identifying whether steering of the unmanned underwater vehicle occurs in the sliding time window; If the steering exists, taking the last steering moment as a demarcation point, intercepting a track segment subjected to the last steering to perform motion trend fitting, and determining the position change trend of the unmanned underwater vehicle; if no steering exists, all data in the sliding time window are directly adopted for motion trend fitting, and the position change trend of the unmanned underwater vehicle is determined; according to the position change trend, the current displacement velocity component and the acceleration component are combined, the displacement increment of the next moment is predicted, and the predicted position interval is calculated based on the three-dimensional position coordinate of the current moment and the predicted displacement increment.
8. The unmanned underwater vehicle communication navigation and positioning method based on the unmanned aerial vehicle of claim 1, wherein the step of determining the predicted flight path of the unmanned aerial vehicle comprises the following steps: based on the predicted position interval, dividing a space grid covering a region corresponding to the predicted position interval in a horizontal plane, and generating a plurality of candidate paths by combining the minimum hover height and the maximum steering angle constraint of the unmanned aerial vehicle; carrying out priority grading on each candidate path, and selecting the candidate path with the highest priority grading as a predicted flight path of the unmanned aerial vehicle; wherein the scoring items of the priority score include: The distance between the hovering point of the unmanned aerial vehicle and the center of the predicted position interval; Steering angle of the unmanned aerial vehicle on the candidate path; predicting the density of position points in a position interval in a grid through which a candidate path passes; and obtaining the priority scores of the candidate paths by carrying out weighted fusion calculation on the scoring items.
9. An unmanned underwater vehicle communication navigation positioning system based on an unmanned aerial vehicle is characterized in that the unmanned underwater vehicle communication navigation positioning method based on the unmanned aerial vehicle is used in any one of claims 1 to 8, and comprises the following steps: The communication link construction module is used for configuring an acoustic communication link between the unmanned aerial vehicle and the unmanned underwater vehicle, establishing a wireless communication link between the unmanned aerial vehicle and the shore-based control center, and realizing interconnection and intercommunication of above-water wireless communication and underwater acoustic communication through unmanned aerial vehicle relay; The positioning mode selection module is used for acquiring the submergence depth of the unmanned underwater vehicle and the water transparency of the submergence area, and selecting a co-positioning mode of the unmanned underwater vehicle to the unmanned underwater vehicle according to the submergence depth and the water transparency, wherein the co-positioning mode comprises a vision auxiliary positioning mode and an acoustic auxiliary positioning mode; The shallow water positioning module is used for identifying the unmanned underwater vehicle through the airborne visual sensor under the visual auxiliary positioning mode to obtain visual observation information, synchronously acquiring real-time depth information of the unmanned underwater vehicle, fusing the real-time depth information with the visual observation information and determining the final position coordinate of the unmanned underwater vehicle; The deepwater positioning module is used for transmitting the body position information with the timestamp to the unmanned underwater vehicle through the acoustic communication link under the acoustic auxiliary positioning mode, and the unmanned underwater vehicle calculates and outputs a final position coordinate according to the signal transmission delay and the submergence depth; the prediction module is used for calculating the position change trend of the unmanned underwater vehicle through the sliding time window, predicting a predicted position interval of the unmanned underwater vehicle at the next moment by combining the historical track, and determining a predicted flight path of the unmanned underwater vehicle according to the predicted position interval; and the position updating module is used for correcting the final position coordinates of the unmanned underwater vehicle in real time when the unmanned vehicle maneuvers to the airspace corresponding to the predicted position interval according to the predicted flight path, and returning the final position coordinates to the shore-based control center through the wireless communication link.
10. An electronic device, characterized in that the electronic device comprises: At least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the unmanned aerial vehicle-based underwater vehicle communication navigation positioning method of any of claims 1 to 8.

Description

Unmanned underwater vehicle communication navigation positioning system and method based on unmanned plane Technical Field The invention belongs to the technical field of unmanned underwater vehicles, and particularly relates to an unmanned underwater vehicle communication navigation positioning system and method based on an unmanned aerial vehicle. Background There are many limitations in underwater communication, such as short propagation distance of radio waves and light waves in water, long propagation distance of sound wave communication, but problems of high propagation delay, low bandwidth, asynchronous clock and the like exist, so that it is difficult to realize efficient data transmission and accurate positioning navigation when an underwater unmanned aircraft performs tasks under water. The existing underwater communication and positioning technology has the following defects: the underwater communication bandwidth is low, the delay is high, and the real-time data transmission requirement is difficult to meet; underwater positioning accuracy is limited, especially in the absence of external reference signals; the cooperative working capacity between the underwater unmanned aircraft and the external platform is weak. Disclosure of Invention The invention aims to provide a communication navigation positioning system and a communication navigation positioning method for an unmanned underwater vehicle based on an unmanned aerial vehicle, which can provide real-time communication, navigation and positioning services for the unmanned underwater vehicle through the unmanned aerial vehicle and solve the problems of inconvenience in underwater communication and low positioning precision. The technical scheme adopted by the invention is as follows: An unmanned underwater vehicle communication navigation positioning method based on an unmanned plane comprises the following steps: an acoustic communication link is configured between the unmanned aerial vehicle and the unmanned underwater vehicle, a wireless communication link is established between the unmanned aerial vehicle and a shore-based control center, and interconnection and intercommunication of above-water wireless communication and underwater acoustic communication are realized through unmanned aerial vehicle relay; Acquiring the submergence depth of the unmanned underwater vehicle and the water transparency of the submergence water area, and selecting a co-positioning mode of the unmanned underwater vehicle to the unmanned underwater vehicle according to the submergence depth and the water transparency, wherein the co-positioning mode comprises a vision auxiliary positioning mode and an acoustic auxiliary positioning mode; In a vision auxiliary positioning mode, the unmanned aerial vehicle recognizes the unmanned underwater vehicle through an airborne vision sensor to obtain vision observation information, synchronously acquires real-time depth information of the unmanned underwater vehicle, fuses the real-time depth information with the vision observation information, and determines final position coordinates of the unmanned underwater vehicle; In the acoustic auxiliary positioning mode, the unmanned aerial vehicle transmits organism position information with a timestamp to the unmanned underwater vehicle through an acoustic communication link, and the unmanned underwater vehicle calculates and outputs final position coordinates according to signal transmission delay and submergence depth; calculating the position change trend of the unmanned underwater vehicle through a sliding time window, predicting a predicted position interval of the unmanned underwater vehicle at the next moment by combining the historical track, and determining a predicted flight path of the unmanned underwater vehicle according to the predicted position interval; The unmanned aerial vehicle maneuvers to an airspace corresponding to the predicted position interval according to the predicted flight path, corrects the final position coordinate of the unmanned underwater vehicle in real time, and returns to the shore-based control center through a wireless communication link. In a preferred embodiment, the step of configuring an acoustic communication link between the unmanned aerial vehicle and the unmanned underwater vehicle, and establishing a wireless communication link between the unmanned aerial vehicle and the shore-based control center, includes: an acoustic signal transmitting and receiving device is arranged at the bottom of the unmanned aerial vehicle, and an acoustic signal receiving and transmitting unit is carried on the unmanned underwater vehicle to form a bidirectional acoustic communication link; integrating a wireless communication module on the unmanned aerial vehicle, and erecting a long-distance wireless communication link with a shore-based control center; The unmanned aerial vehicle converts acoustic communication data transmitted back by the unmanned