一种基于超短基线定位的便携式AUV回坞导航方法
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摘要
自主水下机器人(AUV)对接技术是目前水下机器人的研究热点,精确可靠的AUV的回坞导航是实现对接的关键技术。对于追求轻便的便携式AUV的对接系统,考虑到便携式AUV的搭载能力有限又需要足够的定位精度用于对接,提出了一种基于超短基线(USBL)定位的回坞导航方法,该方法让AUV只需装载电子罗盘和水声应答器就能完成精确的回坞定位。根据导航方法的特点,设计了一种改进的扩展卡尔曼滤波算法,其优点是能在处理滞后的USBL数据的同时动态估算海流、更新状态方程以消除海流造成的定位误差。通过湖试和大量仿真实验,验证了定位算法在海流影响下的定位性能。
The autonomous underwater vehicle(AUV) docking technology is currently the research hotspot in the field of underwater vehicles. The accurate and reliable AUV homing guidance is the key technology for docking.For the docking system of portable AUV, considering the limit space of portable AUV and the requirement for high-precision location, this paper presents a USBL-based navigation method for portable AUV homing, which allows AUV to need compass and transponder only to achieve accurate location. According to the feature of this navigation method, an improved extended Kalman filter algorithm is designed. The advantage is that it can handle delayed USBL data while dynamically estimating the current and updating state equation to eliminate the positioning error caused by the current. Through the lake trial and a large number of simulation experiments, the positioning performance of the localization algorithm is verified under the influence of currents.
The autonomous underwater vehicle(AUV) docking technology is currently the research hotspot in the field of underwater vehicles. The accurate and reliable AUV homing guidance is the key technology for docking.For the docking system of portable AUV, considering the limit space of portable AUV and the requirement for high-precision location, this paper presents a USBL-based navigation method for portable AUV homing, which allows AUV to need compass and transponder only to achieve accurate location. According to the feature of this navigation method, an improved extended Kalman filter algorithm is designed. The advantage is that it can handle delayed USBL data while dynamically estimating the current and updating state equation to eliminate the positioning error caused by the current. Through the lake trial and a large number of simulation experiments, the positioning performance of the localization algorithm is verified under the influence of currents.
引文
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[8]郑翠娥.超短基线定位技术在水下潜器对接中的应用研究[D].哈尔滨:哈尔滨工程大学, 2008.Zheng C E. Application of USBL positioning technology on underwater submersible interfacing[D]. Harbin:Harbin Engineering University, 2008.
[9] Ridao P, Ribas D, Emili Hernández, et al. USBL/DVL navigation through delayed position fixes[C]//IEEE International Conference on Robotics&Automation. IEEE, 2011.
[10]曾俊宝,李硕,李一平,等.便携式自主水下机器人控制系统研究与应用[J].机器人, 2016, 38(1):91-97.Zeng J B, Li S, Li Y P, et al. Research and application of the control system for a portable autonomous underwater vehicle[J]. Robot,2016, 38(1):91-97.
[11] Li D J, Chen Y H, Shi J G, et al. Autonomous underwater vehicle docking system for cabled ocean observatory network[J]. Ocean Engineering, 2015, 109:127-134.
[12]曾俊宝,李硕,刘鑫宇,等.便携式自主水下机器人动力学建模方法研究[J].计算机应用研究, 2018, 320(06):153-156.Zeng J B, Li S, Liu X Y, et al. Research on dynamic modeling of portable autonomous underwater vehicle[J]. Application Research of Computers, 2018, 320(06):153-156.
[13] Stanway M J. Delayed-state sigma point Kalman filters for underwater navigation[C]//IEEE/OES Autonomous Underwater Vehicles(AUV), IEEE, 2010.
[14] Teo K, An E, Beaujean P J. A robust fuzzy autonomous underwater vehicle(AUV)docking approach for unknown current disturbances[J]. IEEE Journal of Oceanic Engineering, 2012, 37(2):143-155.
[2]燕奎臣,吴利红. AUV水下对接关键技术研究[J].机器人, 2007, 29(3):267-273.Yan K C, Wu L H. A survey on the key technologies for underwater AUV docking[J]. Robot, 2007, 29(3):267-273.
[3] Feezor M D, Sorrell F Y, Blankinship P R, et al. Autonomous underwater vehicle homing/docking via electromagnetic guidance[J].Oceanic Engineering IEEE Journal of, 2001, 26(4):515-521.
[4] Allen, Austin, Forrester, et al. Autonomous docking demonstrations with enhanced REMUS technology[C]//Oceans,IEEE, 2006.
[5] Lee P M, Jeon B H, Kim S M. Visual servoing for underwater docking of an autonomous underwater vehicle with one camera[C]//Oceans,IEEE, 2004.
[6] Freitag L. The WHOI micro-modem:an acoustic communications and navigation system for multiple platforms[J]. OCEANS, 2005:1086-1092.
[7]吴利红,许文海,王利鹏. AUV水下终端对接目标识别与定位技术研究[J].大连海事大学学报, 2014, 40(2):81-85.Wu L H, Xu H M, Wang L P. Dock position and pose estimation algorithm for AUV underwater terminal docking[J]. Journal of Dalian Maritime University, 2014, 40(2):81-85.
[8]郑翠娥.超短基线定位技术在水下潜器对接中的应用研究[D].哈尔滨:哈尔滨工程大学, 2008.Zheng C E. Application of USBL positioning technology on underwater submersible interfacing[D]. Harbin:Harbin Engineering University, 2008.
[9] Ridao P, Ribas D, Emili Hernández, et al. USBL/DVL navigation through delayed position fixes[C]//IEEE International Conference on Robotics&Automation. IEEE, 2011.
[10]曾俊宝,李硕,李一平,等.便携式自主水下机器人控制系统研究与应用[J].机器人, 2016, 38(1):91-97.Zeng J B, Li S, Li Y P, et al. Research and application of the control system for a portable autonomous underwater vehicle[J]. Robot,2016, 38(1):91-97.
[11] Li D J, Chen Y H, Shi J G, et al. Autonomous underwater vehicle docking system for cabled ocean observatory network[J]. Ocean Engineering, 2015, 109:127-134.
[12]曾俊宝,李硕,刘鑫宇,等.便携式自主水下机器人动力学建模方法研究[J].计算机应用研究, 2018, 320(06):153-156.Zeng J B, Li S, Liu X Y, et al. Research on dynamic modeling of portable autonomous underwater vehicle[J]. Application Research of Computers, 2018, 320(06):153-156.
[13] Stanway M J. Delayed-state sigma point Kalman filters for underwater navigation[C]//IEEE/OES Autonomous Underwater Vehicles(AUV), IEEE, 2010.
[14] Teo K, An E, Beaujean P J. A robust fuzzy autonomous underwater vehicle(AUV)docking approach for unknown current disturbances[J]. IEEE Journal of Oceanic Engineering, 2012, 37(2):143-155.