CN-122015834-A - Co-positioning communication method, device, equipment and medium for underwater robot

CN122015834ACN 122015834 ACN122015834 ACN 122015834ACN-122015834-A

Abstract

The invention discloses a co-location communication method, device, equipment and medium of an underwater robot, and relates to the technical field of underwater co-navigation. In the first batch of submerged tasks, the position correction is carried out on the follower by combining an ultra-short baseline system according to a high-precision satellite positioning reference provided by a water surface pilot, so that the positioning precision of the follower when the follower arrives at the seabed is remarkably improved, and accurate initial position information is provided for an integrated navigation system of the follower. On the basis, in the second batch of submerging tasks, the pilot uses initial position information of a plurality of followers as a known reference point, and realizes inverse solution and correction of the position of the pilot by fusing underwater sound positioning data and navigation state information of the pilot. Through the batch-wise submergence and multi-wheel collaborative correction mechanism, the accumulation of positioning errors of the integrated navigation system caused by being in a pure inertial working mode for a long time in the large-depth submergence process is effectively inhibited, and the positioning accuracy and the system robustness of the underwater formation collaborative operation are remarkably improved.

Inventors

QIAO JIANAN
YU JIANCHENG
HUANG YAN
WANG BING
LU XIAOTING
FENG HAO
JU XIAOLONG
WANG ZHENYU
XIE ZONGBO

Assignees

中国科学院沈阳自动化研究所

Dates

Publication Date: 20260512
Application Date: 20260416

Claims (10)

1. A co-location communication method of an underwater robot, applied to a single pilot master slave formation scenario, wherein the formation comprises a pilot and a plurality of followers, the method comprising: responding to a first batch of submerging instructions, controlling the followers to execute submerging operation, and controlling the navigator to keep in a water surface floating state; Acquiring satellite positioning position information and heading information of the pilot and first underwater sound positioning position information of each follower according to a preset time interval, and carrying out multi-round collaborative positioning correction on the plurality of followers based on the satellite positioning position information, the heading information and the first underwater sound positioning position information; ending the first batch of submerging operation when the Doppler log carried by each follower is detected to be in a bottoming effective state; responding to a second batch of submerging instructions, controlling the navigator to execute submerging operation, and controlling the followers to perform hover waiting in a preset area; Obtaining second underwater sound positioning position information of each follower and navigation state information of each follower according to a preset time interval, and carrying out multi-time positioning correction on a pilot based on the second underwater sound positioning position information and the navigation state information; Ending the second batch of submerging operations when the Doppler log carried by the navigator is detected to be in a bottoming effective state; and according to a preset period, performing near-bottom navigation positioning communication operation on the formation to complete the collaborative position correction of the formation members.
2. The cooperative positioning communication method of an underwater robot according to claim 1, wherein the navigator carries a beidou positioning system, a laser inertial integrated navigation system, an ultra-short matrix system and an underwater sound communication machine, each follower carries an optical fiber inertial integrated navigation system and an acoustic positioning beacon, wherein the laser inertial integrated navigation system comprises a laser inertial navigation system and a doppler log, the optical fiber inertial integrated navigation system comprises an optical fiber inertial navigation system and a doppler log, the satellite positioning position information and heading information of the navigator and the first underwater sound positioning position information of each follower are acquired according to a preset time interval, and the steps of performing cooperative positioning correction on the plurality of followers for a plurality of times based on the satellite positioning position information, the heading information and the first underwater sound positioning position information are specifically included: For any round of co-location correction, the navigator acquires satellite location information through the Beidou positioning system and acquires heading information through a laser inertial integrated navigation system; The pilot calculates first position information of the ultra-short matrix system under the body coordinate system based on the satellite positioning position information, the course information and the installation distance between the ultra-short matrix system and the Beidou positioning system; The pilot sequentially sends positioning query signals to each follower through the ultra-short matrix system and receives response signals fed back by each follower; The pilot generates first underwater sound positioning position information of each follower at the moment when the pilot receives the response signals based on the response signals fed back by each follower, wherein the first underwater sound positioning position information comprises the distance and the azimuth of each follower relative to the pilot; The navigator determines coordinate values of each follower under a matrix body coordinate system based on the first underwater sound positioning position information; The navigator calculates the unidirectional propagation time delay of the response signal from each follower to the navigator based on the preset sound velocity and the coordinate value of each follower; The navigator calculates second position information of the moment when each follower transmits a response signal to the navigator based on the first position information, the coordinate value and the unidirectional propagation delay, and transmits the second position information to each follower through the underwater acoustic communication machine; And each follower determines third position information of the navigator at the current moment based on the received second position information, and performs positioning correction on each carried optical fiber inertial integrated navigation system based on the third position information.
3. The method for co-locating communication of an underwater robot according to claim 2, wherein each follower determines third location information of a pilot at the current moment based on the received second location information, and performs location correction on each loaded optical fiber inertial integrated navigation system based on the third location information, specifically comprising: Each follower receives the second position information sent by the navigator through the carried acoustic positioning beacon; The optical fiber inertial integrated navigation system is used for acquiring a first positioning result of the optical fiber inertial integrated navigation system at the moment of sending a response signal to the navigator and a second positioning result of the optical fiber inertial integrated navigation system at the current moment by the followers through the optical fiber inertial integrated navigation systems respectively carried; each follower determines navigation data from the moment of sending the response signal to the current moment based on the first positioning result and the second positioning result; And each follower calculates third position information of the navigator at the current moment by taking the second position information sent by the received navigator as a reference and combining with the navigation data, and updates the navigation position of the optical fiber inertial integrated navigation system by taking the third position information as an initial value to finish the position correction of the optical fiber inertial integrated navigation system.
4. The underwater robot co-location communication method according to claim 1, wherein the step of obtaining the second underwater sound location position information of each follower and the navigation state information of each follower at preset time intervals and performing the multi-time location correction for the pilot based on the second underwater sound location position information and the navigation state information specifically comprises: For any round of positioning correction, the navigator sequentially sends positioning inquiry signals to each follower through an ultra-short matrix system and receives response signals fed back by each follower; The navigator generates second underwater sound positioning position information of each follower at the moment when the navigator receives the response signals based on the response signals fed back by each follower, and converts the second underwater sound positioning position information into coordinate values under a matrix body coordinate system; The navigator calculates the unidirectional propagation time delay of the response signal from each follower to the navigator based on the preset sound velocity and the coordinate value of each follower; After each follower finishes underwater acoustic positioning, each follower acquires respective navigation state information and sequentially sends the navigation state information to a navigator through an acoustic positioning beacon, wherein the navigation state information comprises information sending time, depth information, altitude information, heading information, navigational speed information, pitching angle information and longitude and latitude information; The navigator generates accurate position information of the navigator at the current moment based on the navigation state information and the coordinate values of the followers; and the pilot updates the navigation position of the laser inertial integrated navigation system by taking the accurate position information as an initial value to finish the position correction of the laser inertial integrated navigation system.
5. The underwater robot co-location communication method according to claim 4, wherein the step of generating accurate position information of the pilot at the current time based on the navigation status information and coordinate values of each follower comprises: The navigator determines the navigation distance between the moment of sending the response signal and the moment of sending the navigation state information of each follower based on the navigation speed information; The navigator determines fourth position information of each follower at the moment of sending the response signal based on longitude and latitude information, heading information and navigational distance of each follower; The navigator determines fifth position information of the ultra-short matrix system at the moment when each follower sends a response signal based on the fourth position information and the coordinate value; the pilot obtains a third positioning result of the laser inertial integrated navigation system at the moment when each follower sends a response signal and a fourth positioning result of the laser inertial integrated navigation system at the current moment; the navigator determines a navigation distance and a navigation direction from the moment when each follower sends a response signal to the current moment based on the third positioning result and the fourth positioning result; And the navigator determines sixth position information of the navigator at the current moment based on the fifth position information, the navigation distance and the navigation direction, and fuses a plurality of pieces of sixth position information corresponding to a plurality of followers according to a preset fusion strategy to obtain the accurate position information of the navigator at the current moment.
6. The underwater robot co-location communication method according to claim 1, wherein the step of performing near-bottom navigation positioning communication operation on formation according to a preset period to complete formation member co-location correction specifically comprises: in the near-bottom sailing operation process, according to the preset period, the navigator sequentially performs underwater sound positioning on each follower based on the serial numbers of the followers so as to obtain the underwater sound positioning result of formation; determining communication interval duration among the plurality of followers based on a preset underwater sound positioning distance threshold, the number of followers and a preset sound velocity; After underwater sound positioning is completed, each follower sequentially reports navigation state information to the navigator based on the number and the communication interval duration, and the navigator feeds back a response confirmation signal to each follower after receiving the navigation state information reported by each follower.
7. The underwater robot co-location communication method of claim 6, further comprising: In the communication process, for any follower, if the pilot does not receive navigation state information reported by the follower within a preset period, judging that the follower is in a communication interruption state; determining a target follower closest to a follower in a communication interruption state in the formation as a transit node based on the underwater sound positioning result; The pilot forwards the scheduling information to the follower in the communication interruption state through the target follower.
8. A co-located communication device for an underwater robot, applied to a single pilot master slave formation scenario, wherein the formation comprises a pilot and a plurality of followers, the device comprising: the control module is used for responding to the first batch of submerging instructions, controlling the plurality of followers to execute submerging operation and controlling the navigator to keep in a water surface floating state; The first acquisition module is used for acquiring satellite positioning position information and heading information of the pilot and first underwater sound positioning position information of each follower according to a preset time interval, and carrying out multi-time collaborative positioning correction on the plurality of followers based on the satellite positioning position information, the heading information and the first underwater sound positioning position information; the control module is also used for ending the first batch of submerging operation when detecting that the Doppler log carried by each follower is in a bottom-opposite effective state; the control module is also used for responding to a second batch of submerging instructions, controlling the navigator to execute submerging operation and controlling the followers to hover and wait in a preset area; The second acquisition module is used for acquiring second underwater sound positioning position information of each follower and navigation state information of each follower according to a preset time interval, and carrying out multi-round positioning correction on a pilot based on the second underwater sound positioning position information and the navigation state information; The control module is also used for ending the second batch of submerging operation when detecting that the Doppler log carried by the navigator is in a bottom-opposite effective state; the control module is also used for executing near-bottom navigation positioning communication operation on the formation according to a preset period to complete the cooperative position correction of the formation members.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the co-location communication method of an underwater robot according to any of the claims 1-7.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor realizes the steps of the co-location communication method of an underwater robot according to any of the claims 1 to 7.

Description

Co-positioning communication method, device, equipment and medium for underwater robot Technical Field The invention relates to the technical field of underwater collaborative navigation, in particular to a collaborative positioning communication method, device, equipment and medium of an underwater robot. Background With the continuous deepening of ocean resource development and utilization, tasks such as ocean environment investigation, resource exploration and ocean archaeology have higher requirements on exploration efficiency. Autonomous underwater robots have been widely used, but due to the wide operating sea area and limited single boat operation coverage efficiency, the increasingly time-efficient demands are difficult to meet, so that multi-underwater robot cluster formation collaborative operation has become an important way for improving the overall exploration efficiency. The formation cooperatively relies on accurate positioning and reliable communication among members to realize functions such as formation maintenance, state reporting, task cooperative scheduling and the like. At present, the research on autonomous underwater robot formation coordination focuses on the positioning information fusion and dead reckoning layers, and the underwater sound positioning and communication scheduling strategies in key working stages such as large-depth submergence from the water surface to the seabed, near-bottom navigation and the like are not systematically researched. Under the conditions of long endurance, strong dynamic and limited channels, positioning and communication errors are easy to accumulate and gradually amplify, so that the stability and the overall operation precision of formation coordination are affected. Disclosure of Invention In view of the above, the invention provides a co-positioning communication method, a device, an electronic device and a medium for an underwater robot, which are used for solving the technical problem that the underwater sound positioning communication error is remarkable in the current large-depth submergence and near-bottom navigation. In a first aspect, a co-location communication method of an underwater robot is provided, which is applied to a single pilot master-slave formation scene, wherein the formation comprises a pilot and a plurality of followers, and the method comprises: responding to the first batch of submerging instructions, controlling a plurality of followers to execute submerging operation, and controlling a pilot to keep in a water surface floating state; Acquiring satellite positioning position information and heading information of a pilot and first underwater sound positioning position information of each follower according to a preset time interval, and carrying out multi-round collaborative positioning correction on a plurality of followers based on the satellite positioning position information, the heading information and the first underwater sound positioning position information; ending the first batch of submerging operation when the Doppler log carried by each follower is detected to be in a bottoming effective state; Responding to the second batch of submerging instructions, controlling a pilot to execute submerging operation, and controlling a plurality of followers to hover and wait in a preset area; Obtaining second underwater sound positioning position information of each follower and navigation state information of each follower according to a preset time interval, and carrying out multi-time positioning correction on a pilot based on the second underwater sound positioning position information and the navigation state information; Ending the second batch of submerging operations when the Doppler log carried by the navigator is detected to be in a bottoming effective state; and according to a preset period, performing near-bottom navigation positioning communication operation on the formation to complete the collaborative position correction of the formation members. In a second aspect, there is provided a co-located communication device for an underwater robot for use in a single pilot master slave formation scenario, wherein the formation comprises a pilot and a plurality of followers, the device comprising: the control module is used for responding to the first batch of submerging instructions, controlling the plurality of followers to execute submerging operation and controlling the pilot to keep in a water surface floating state; The first acquisition module is used for acquiring satellite positioning position information and heading information of a pilot and first underwater sound positioning position information of each follower according to a preset time interval, and carrying out multi-time collaborative positioning correction on a plurality of followers based on the satellite positioning position information, the heading information and the first underwater sound positioning position information; the control mo