CN-122015869-A - Navigation positioning method, equipment and medium for Autonomous Underwater Vehicle (AUV), HOV and AUV cluster collaborative operation

CN122015869ACN 122015869 ACN122015869 ACN 122015869ACN-122015869-A

Abstract

The application discloses a navigation positioning method, equipment and medium for cooperative operation of an autonomous underwater vehicle, an HOV and an AUV cluster, and relates to the field of underwater accurate positioning; the method comprises the steps of controlling an autonomous underwater vehicle to receive underwater sound pulse signals, determining a measurement equation of position estimation information of the autonomous underwater vehicle according to signal propagation time and underwater sound speed, acquiring inertial navigation data of the autonomous underwater vehicle, utilizing a multi-platform information fusion cooperative positioning model to perform combined optimization, correcting inertial navigation errors of the autonomous underwater vehicle, and outputting corrected navigation information according to the corrected inertial navigation errors so as to realize cooperative navigation positioning of the manned vehicle and an autonomous underwater vehicle cluster.

Inventors

ZHANG TONGWEI
XU HAO
WANG XIANGXIN
ZHOU XINYU
WANG WEI
ZHANG CHENG
DU YUCHENG
WANG YIBIN
XU XIYANG
LV BOWEI

Assignees

哈尔滨工程大学
山东大学

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. The navigation positioning method for the collaborative operation of the HOV and the AUV cluster is characterized by comprising the following steps: controlling the manned submersible to send underwater sound pulse signals, self-position information and a time stamp of sending time to the surrounding water area; controlling the autonomous underwater vehicle to receive the underwater sound pulse signal, and determining a measurement equation of the position estimation information of the autonomous underwater vehicle according to the signal propagation time and the underwater sound speed; acquiring inertial navigation data of the autonomous underwater vehicle, wherein the inertial navigation data comprises attitude, position and speed information; based on the measurement equation and the inertial navigation data, performing joint optimization by utilizing a multi-platform information fusion co-location model, and correcting the inertial navigation error of the autonomous underwater vehicle; and outputting the corrected navigation information according to the corrected inertial navigation error so as to realize the collaborative navigation positioning of the manned submersible and the autonomous underwater vehicle cluster.
2. The navigation positioning method for collaborative operation of an HOV and an AUV cluster according to claim 1, wherein controlling the autonomous underwater vehicle to receive the underwater sound pulse signal determines a measurement equation of the autonomous underwater vehicle position estimation information according to a signal propagation time and an underwater sound velocity, specifically comprising: When the autonomous underwater vehicle receives the time when the manned submersible vehicle is After the marker bit is sent out, the relative distance between the manned submersible and the autonomous underwater vehicle is calculated by multiplying the signal propagation time by the underwater sound velocity Then The autonomous underwater vehicle takes the manned submersible as the center of a circle at all times Is a circle with radius; When the autonomous underwater vehicle receives the time when the manned submersible vehicle is After the sent marker bit, the relative distance between the autonomous underwater vehicle and the manned submersible vehicle is calculated Then The autonomous underwater vehicle takes the manned submersible as the center of a circle at all times Is a circle with radius; Calculating time of day using combined dead reckoning By the time The autonomous underwater vehicle itself moves the sagittal diameter during the period; According to the time By the time And the motion distance and the self motion diameter of the device are lost, and the moment is Translation of the geometrical position of an autonomous underwater vehicle to the moment The intersection of the two circles is calculated to obtain the included time And measuring equation of the position estimation information of the autonomous underwater vehicle.
3. The navigation positioning method for the collaborative operation of the HOV and the AUV cluster according to claim 2, wherein based on the measurement equation and the inertial navigation data, the inertial navigation error of the autonomous underwater vehicle is corrected by performing joint optimization using a multi-platform information fusion collaborative positioning model, comprising: based on the measurement equation and the inertial navigation data, entering an actual inertial measurement value set and a distance measurement set into an optimizer; At any moment, if a distance measurement value exists, optimizing and correcting the inertial information to obtain an optimized variable, outputting the optimized variable to a filter, and unifying the inertial information and the distance measurement information into a time sequence; if no distance measurement value exists at any moment, directly inputting inertial navigation measurement information serving as an inertial navigation settlement result into a filter link; In the filter, comparing the distance observed quantity with the inertial navigation measurement information output by the distance fusion optimizer and calculated according to the inertial navigation settlement result to obtain an updating process, and outputting corrected posture, speed and position information; and continuously updating and iterating the distance measurement and inertial information joint optimization according to a unified time sequence, and correcting the inertial navigation error of the autonomous underwater vehicle.
4. The navigation positioning method for collaborative operation of HOVs and AUVs according to claim 3, wherein the joint optimization is implemented based on a bayesian theory and a sensor error model, and specifically comprises: when the actual inertial measurement value and the distance measurement value are known, constructing a conditional probability of an estimated value of the inertial information; When the conditional probability takes the maximum value, the corresponding estimated value is used as the optimal estimation of the inertia information at the current moment, and the optimal estimation of the inertia information is the value of the optimization variable at the extreme point; and writing the optimal estimation into the form of priori information according to a Bayesian formula, and simultaneously modeling and correcting the uncertainty of the observed data by using a sensor error model.
5. The navigation positioning method of the HOV and AUV cluster collaborative operation according to claim 4, wherein the optimal estimation is written in the form of prior information according to a bayesian formula, and uncertainty of observed data is modeled and corrected by using a sensor error model, and then the method further comprises multi-platform inertial information joint optimization; the multi-platform inertia information joint optimization specifically comprises the following steps: Expanding the single-platform inertia information optimization model to a multi-platform inertia information combined optimization model, and introducing multi-platform error coupling modeling; And the objective function is based on a multi-platform inertia measurement information set and a multi-platform distance measurement information set, optimizes the inertia information of all the current platforms at each moment of updating, substitutes for navigation calculation, and corrects drift errors.
6. The navigation positioning method for collaborative operation of an HOV and an AUV cluster according to any one of claims 1-5, wherein based on the metrology equation and the inertial navigation data, a multi-platform information fusion co-location model is utilized to perform joint optimization to correct inertial navigation errors of the autonomous underwater vehicle, and then further comprising measuring relative position changes of the autonomous underwater vehicle cluster by area constraints using relative positional relationships between platforms and geometric configuration prior information.
7. The navigation positioning method of the HOV and AUV cluster collaborative operation according to claim 1, wherein the manned submersible serves as a dynamic anchor point with accurate position for providing a state reference for an autonomous underwater vehicle cluster; Under the condition of sparse ranging, inertial offset is corrected through ranging information among multiple platforms, so that joint estimation and cooperative feedback of inertial navigation information among the platforms are realized.
8. An autonomous underwater vehicle performing the navigation positioning method of HOV and AUV cluster collaborative operation of any of claims 1-7, the autonomous underwater vehicle comprising a communication module, an inertial navigation module, and a processor; the communication module is used for receiving the underwater sound pulse signal, the self position information and the time stamp of the sending time sent by the manned submersible; the inertial navigation module is used for acquiring inertial navigation data of the autonomous underwater vehicle; The processor is used for determining a measurement equation of the position estimation information of the autonomous underwater vehicle according to the signal propagation time and the underwater sound speed, carrying out joint optimization by utilizing a multi-platform information fusion co-location model based on the measurement equation and the inertial navigation data, correcting inertial navigation errors and outputting corrected navigation information.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the navigation positioning method of HOV and AUV cluster co-operation of any of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the navigation positioning method of HOV and AUV cluster co-operation of any of claims 1-7.

Description

Navigation positioning method, equipment and medium for Autonomous Underwater Vehicle (AUV), HOV and AUV cluster collaborative operation Technical Field The application relates to the field of underwater accurate positioning, in particular to a navigation positioning method, equipment and medium for cooperative operation of an Autonomous Underwater Vehicle (AUV), an HOV and an AUV cluster. Background Currently, co-operation of manned submersible (HumanOccupied Vehicle ‌, HOV) and autonomous underwater vehicle (‌ Autonomous Underwater Vehicle, AUV) clusters relies primarily on acoustic navigation positioning techniques to achieve accurate underwater positioning. A typical collaborative system consists of a manned submersible support mother ship, a manned submersible and an AUV cluster, forming a layered work structure. The mother ship is used as a water surface supporting platform and is generally provided with an ultra-short baseline positioning system (Ultra Short Baseline, USBL) underwater sound positioning system and a ship-borne underwater sound communication system, and is responsible for carrying out real-time positioning and communication guarantee on the manned submersible. The AUV cluster performs autonomous navigation by combining a preprogrammed path planning with an inertial navigation system (Inertial Navigation System, INS) and a Doppler log (Doppler Velocity Log, DVL), and can also perform position calibration by a Long Baseline (LBL) or a USBL acoustic positioning system in a specific operation mode. In practical operation, acoustic navigation positioning technology is a key for connecting units. For manned submarines, the mother ship continuously tracks the position of the manned submarines through a USBL system, and transmits positioning information to the submarines through underwater acoustic communication to assist the diver in driving. For an AUV cluster, when the topography of the working area is not rough and the working frequency is high, a long baseline positioning system can be laid on the seabed, and high-precision positioning is provided for the AUV through a plurality of acoustic beacons with known positions. In addition, in the recently developed collaborative navigation method, such as master-slave collaborative positioning, a piloting AUV (or manned submersible) carrying high-precision navigation equipment is utilized to provide a position reference for a following AUV carrying low-precision navigation equipment, and the positioning precision of the whole cluster is improved through an acoustic ranging and information fusion algorithm (such as Kalman filtering). However, this conventional mode of operation has significant limitations. The manned submersible support mother ship can only singly provide support guarantee for the manned submersible when the manned submersible is used for carrying out the submersible submerging operation, so that the underwater operation safety of the manned submersible is ensured. Only when the manned submersible is not submerged, the mother ship can be used for other survey work tasks. This means that the on-board availability during operation of the manned submersible is not high, despite the high daily operational costs of the mother ship. Meanwhile, autonomous decision-making capability of the AUV cluster in a complex underwater environment is limited, emergency or complex tasks are difficult to deal with, and supervision and intervention of a surface ship or a manned submersible are still required. Disclosure of Invention The application aims to provide a navigation positioning method, equipment and medium for cooperative operation of an Autonomous Underwater Vehicle (AUV), an HOV and an AUV cluster, wherein the cooperative operation of the HOV and the AUV cluster realizes high-precision navigation positioning of the AUV cluster under the condition that a manned submersible is used as a single anchor point observation. In order to achieve the above object, the present application provides the following solutions: in a first aspect, the present application provides a navigation positioning method for collaborative operation of an HOV and an AUV cluster, including: controlling the manned submersible to send underwater sound pulse signals, self-position information and a time stamp of sending time to the surrounding water area; controlling the autonomous underwater vehicle to receive the underwater sound pulse signal, and determining a measurement equation of the position estimation information of the autonomous underwater vehicle according to the signal propagation time and the underwater sound speed; acquiring inertial navigation data of the autonomous underwater vehicle, wherein the inertial navigation data comprises attitude, position and speed information; based on the measurement equation and the inertial navigation data, performing joint optimization by utilizing a multi-platform information fusion co-location model, and correcting the