CN112987798A - Heavy AUV dynamic/static target autonomous docking method based on acousto-optic combined guidance - Google Patents
Heavy AUV dynamic/static target autonomous docking method based on acousto-optic combined guidance Download PDFInfo
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Abstract
The invention discloses an autonomous docking method for a heavy AUV (autonomous underwater vehicle) dynamic/static target based on acousto-optic combined guidance, in particular to an autonomous docking method for a heavy AUV dynamic/static target based on acousto-optic combined guidance, which is a method for realizing autonomous docking for a heavy cableless underwater robot (AUV) and a dynamic or static docking device. And the AUV determines the position of the docking device according to the acoustic and optical positioning data, autonomously plans the docking behavior to navigate to the docking device, and completes the full-flow docking actions such as data communication, charging, exiting and the like according to the instruction of the docking device. The invention provides a full-flow autonomous docking method for target guiding and positioning, docking route planning and docking actions, and a dynamic docking task of a heavy-duty cableless underwater robot is efficiently completed.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an underwater robot dynamic and static target autonomous docking method based on acousto-optic combined guidance.
Background
With the continuous and deep exploration of human beings in the ocean field, an underwater robot (AUV) without a cable plays an increasingly important role as an effective tool for ocean exploration. At present, most AUVs use batteries as energy sources, ships and personnel need to be guaranteed to recover and charge, and the recovery process is complicated and the cost is high. The AUV underwater autonomous recovery requirement comes along, the key of underwater autonomous recovery is underwater autonomous butt joint, and underwater data transmission and energy supply can be realized by butt joint with a butt joint device, so that the working range and time of the AUV are greatly improved. The existing verified docking technology has the following three problems:
first, most AUVs verified by a docking technology are less than 5 meters in length, less than 1000Kg in weight, short in length, light in weight and convenient to sail, control, deploy and recycle, but are limited by the size, the weight and the size of carrying detection equipment and batteries are strictly limited, and particularly acoustic detection equipment and high-precision inertial navigation equipment are limited in operation application and range. The heavy AUV overcomes the problems of limited light AUV carrying equipment and the like, but has the characteristics of large inertia, long time lag and the like due to larger external dimension, and has higher control difficulty.
Secondly, the device needs to be arranged on the seabed in advance and related cables need to be laid when the device is in butt joint with a fixed target, and the operation range of the AUV is limited by the arrangement region and the number of the devices. If the butt joint of the AUV and the dynamic target can be realized, the autonomous butt joint of the AUV and the AUV, the autonomous butt joint of the AUV and the unmanned surface vessel, and the autonomous butt joint of the AUV and the seabed base station can be realized, so that the AUV operation range and the application are further expanded. Compared with static fixed target docking, the position and the posture of the dynamic target docking device change in real time, the requirements on target position calculation and path tracking are higher, and the docking difficulty is higher.
And thirdly, in the process of executing the task underwater, the AUV can autonomously judge whether the AUV successfully enters the docking device or not, executes corresponding actions according to commands of the docking device, has a function of docking again if the AUV fails to dock, and has a complete fault processing flow if the AUV is stuck to the docking device or has other fault conditions.
Disclosure of Invention
In order to overcome the defects of the existing method, the invention aims to solve the technical problems of acoustic-optical combined guide target positioning, heavy AUV dynamic target docking path planning and navigation control, successful docking judgment, fault processing and the like.
The technical scheme adopted by the invention for realizing the purpose is as follows: a heavy AUV dynamic/static target autonomous docking method based on acousto-optic combined guidance comprises the following steps:
1) and (3) matrix position searching: the AUV searches acoustic positioning data sent by a matrix on a target to determine the position of the target;
2) sailing towards the starting point of the butt joint route: planning a docking route according to the target position, and navigating to the starting point of the docking route;
3) a remote guidance stage: adjusting the docking route according to the target position to enable the AUV to navigate along the docking route;
4) end distance guiding stage: the target location update frequency is increased using acoustic positioning data, and the AUV is caused to reach the target location using optical guidance when optical positioning data is received.
The determining the target position specifically includes:
x_d＝-(cos(h)(cos(p)*x_z-sin(p)(sin(r)*y_z+cos(r)*z_z)) -sin(h)(cos(r)*y_z-sin(r)*z_z))
y_d＝-(sin(h)(cos(p)*x_z-sin(p)(sin(r)*y_z+cos(r)*z_z)) +cos(h)(cos(r)*y_z-sin(r)*z_z))
z_d＝sin(p)*x_z+cos(p)*(sin(r)*y_z+cos(r)*z_z)
h, p and r respectively represent the heading, the pitching angle and the rolling angle of the AUV, x _ z, y _ z and z _ z are respectively the north, east and vertical distances of the AUV under a carrier coordinate system, and x _ d, y _ d and z _ d are respectively the east, north and vertical distances of the target under a geodetic coordinate system.
The method comprises the following steps of adjusting a butt joint route according to a target position to enable the AUV to navigate along the butt joint route, and specifically comprises the following steps: obtaining course deviation according to the difference value between the current track yaw angle of the AUV and the target track yaw angle; and summing the deviation and the current course of the AUV to obtain a target course, updating the docking route according to the target course, and navigating the AUV along the updated docking route.
The course deviation is obtained according to the difference value between the current track yaw angle of the AUV and the target track yaw angle, and the method specifically comprises the following steps:
wherein,. DELTA.hdisAs track yaw angle, Kp、Ki、KdRespectively is a proportionality coefficient, an integral coefficient and a differential coefficient, and delta dis is a distance value between the current AUV and a target route;
the course deviation Δ h' is as follows:
Δh′＝Δhdock-Δhdis
wherein, the delta h' is course deviation, and the angle delta h is formed by the current course of the AUV and the target axisdockYaw angle delta h with trackdisAnd (6) calculating.
In step 4), after the AUV acquires the optical guidance data, the target position is updated using the optical guidance data.
The invention has the following beneficial effects and advantages:
1. the invention provides a set of heavy AUV docking method with high autonomy, and the practical test proves that the docking method has the characteristics of high docking success rate and strong practicability;
2. the test method provided by the invention can meet the butt joint requirements of a fixed (static) target and a movable (dynamic) target at the same time;
3. the invention provides a set of complete butt joint test method, which comprises target search, target position calculation, autonomous butt joint path gauge and guidance, and butt joint completion judgment, and has the characteristics of high implementation and high reliability.
Drawings
FIG. 1a is a schematic view of positioning apparatus installation-a movable docking assembly;
FIG. 1b is a schematic view of positioning apparatus installation-docking AUV;
FIG. 2 is an acoustic data definition diagram;
FIG. 3 is a schematic view of the installation of the optical guidance beacon;
FIG. 4 is a schematic diagram of a switching strategy for combined guidance of acousto-optic signals;
FIG. 5 is a schematic diagram of an autonomous docking route planning method of the present invention;
FIG. 6 is a schematic view of the track yaw angle of the present invention;
fig. 7 is a schematic diagram of acoustic object searching.
Detailed Description
In order to overcome the defects of the existing method, the invention aims to solve the technical problems of acoustic-optical combined guide target positioning, heavy AUV dynamic target docking path planning and navigation control, successful docking judgment, fault processing and the like.
The technical scheme adopted by the invention for realizing the purpose is as follows: a method for realizing autonomous butt joint of a heavy-duty cableless underwater robot and a dynamic or static butt joint device based on an acoustic and optical combined positioning and guiding mode comprises the following steps:
searching and determining the position of the movable docking device by using the underwater sound positioning equipment;
the underwater sound positioning equipment sends the positioning information and the navigation attitude data of the docking device to the AUV;
screening, filtering and resolving the position of the movable docking device according to the characteristics of the underwater acoustic positioning equipment;
updating the position of the docking device according to the acoustic and optical positioning data;
independently planning a docking route, and adjusting the docking route in real time according to acoustic and optical positioning data;
and judging the docking completion state autonomously, and planning to dock again or execute corresponding processing.
Obtaining acoustic positioning data through AUV navigation search, screening acoustic and optical data, resolving and determining a target position, accessing a guidance stage, and updating the target position in real time by using acousto-optic combined guidance;
according to the target position resolving result, autonomous path planning is carried out, and the following navigation behavior is determined according to the docking completion condition;
the docking stage division comprises three parts, namely a stage of navigating to the starting point of a docking route, a remote guidance stage and a terminal guidance stage, and different guidance strategies and control methods are adopted according to different stages.
The docking target of this embodiment may be a docking device, the docking device is a prior art, and may be a frame structure, an optical beacon is provided on the edge of the rear fairing, and a structure of "an underwater docking device" in a patent (application No. 201711329091.3, publication No. CN109921233A) may be adopted.
As shown in fig. 1a to 1b, an apparatus based on underwater acoustic communication with positioning function includes an underwater acoustic communication apparatus array, which is mounted on a mobile docking device, and is configured to measure a positional relationship between an AUV and the mobile docking device, and send the relationship information and the docking device attitude information to the AUV through the underwater acoustic communication; and the underwater sound communication equipment beacon is carried on the AUV and is used for communicating with the array and receiving the positioning information.
An optical-based guidance positioning device comprises an optical beacon arranged on the edge of a guide cover of a docking device and used for indicating the position of the edge of an inlet of the docking device; and the underwater optical camera is arranged in parallel with the longitudinal axis of the AUV and is used for determining the attitude and position information of the air guide sleeve.
Cylindrical slender body AUV, length is 8 meters, and the weight is about 1.5 tons in the air, belongs to heavy AUV. In order to meet the requirement of butt joint navigation control, the main thrust finned rudder is adopted for control at normal navigation speed, and the controls of a bow vertical propeller, a stern vertical propeller and a bow transverse propeller are added on the basis of the main thrust finned rudder at low speed, wherein the vertical propeller is used for adjusting a vertical plane (trim and depth), and the transverse propeller is used for adjusting a horizontal plane.
A dynamic target position searching, resolving and positioning method based on acoustics and optics is disclosed.
According to the difference of the relative distance between the butt-jointed AUV and the butt-jointed device and the butt-jointed stage, a target positioning mode and a method are correspondingly designed, and the target positioning mode and the method are composed of a target position searching stage, a starting point navigation stage towards a butt-jointed route, a remote distance guiding stage and a tail end distance guiding stage.
And a target position searching stage, which is used for searching acoustic signals of a target (a matrix on the docking device) and determining the position of the target and comprises three parts of target screening, position resolving and filtering. The acoustic data screening is based on the underwater acoustic positioning principle and actual test results, and data with a small connecting line angle between a beacon and the array center is preferentially screened to ensure positioning accuracy. The target position screening and calculating method comprises the following steps:
the definition of acoustic data is shown in fig. 2, where srage is a fine line distance from a basic array to a beacon, a plane formed by points ABCO is a projection of the basic array on the beacon, depth is a distance from the basic array to a projection plane, a point O is an intersection point of an axis of the basic array and the projection plane, range is a distance from the point O to a point B, and range reflects an axial distance from the projection plane to the basic array of the beacon.
Wherein: the f _ search is used for screening, resolving and filtering the acquired acoustics and comprises cal _ target1, cal _ target2 and a filter function, wherein n represents the number of the acquired effective acoustic data, range0 and range [ i ] (screening threshold) represent acoustic data screening standards, and acoustic data smaller than the screening standards are selected for position resolution. After acoustic data are obtained, the cal _ target1 and the cal _ target2 function screen and solve the target position (including formulas (1) to (3)), the difference is that cal _ target1 is used for the situation that the acoustic data are few, when the number of data is less than 3 groups, only range0 is used for screening the data, and the data less than range0 are selected; when the data number is more than or equal to 3 groups, resolving by using a cal _ target2 function, and screening by using multiple groups of range data in a cal _ target2 function, wherein range [ i ] < range [ i +1], and preferentially selecting a group of data resolving target positions which are less than range [ min ].
In the course of heading towards the docking route, acoustic positioning is used, and because the distance between the position of the received acoustic signal and the starting point of the docking route can reach hundreds of meters or even kilometers in actual dynamic docking, and the position of the docking device is constantly changed, the starting point and the ending point of the docking route need to be updated according to the position of the docking device in the process of sailing towards the docking route. The target update strategy is: and after 5 groups of acoustic data are received, median filtering is carried out, and after two groups of extreme values are removed, the target position is averaged and settled.
The third stage is a remote guidance stage, namely after entering the docking route, adjusting the docking route according to the acoustic calculation data, and navigating along the docking route.
After the target position is resolved, in order to prevent burrs from influencing resolving precision, median average filtering is carried out on data by using a filtering function, and the burrs are removed. Acquiring relative position data of a butt joint device and a butt joint AUV (autonomous underwater vehicle), and carrying out coordinate transformation on acoustic positioning data by combining attitude data such as pitching, rolling and course of the AUV to further improve target positioning accuracy
x_d＝-(cos(h)(cos(p)*x_z-sin(p)(sin(r)*y_z+cos(r)*z_z))- sin(h)(cos(r)*y_z-sin(r)*z_z)) (1)
y_d＝-(sin(h)(cos(p)*x_z-sin(p)(sin(r)*y_z+cos(r)*z_z))+ cos(h)(cos(r)*y_z-sin(r)*z_z)) (2)
z_d＝sin(p)*x_z+cos(p)*(sin(r)*y_z+cos(r)*z_z) (3)
And h, p and r are heading, trim and roll angles of the butted AUV, x _ z, y _ z and z _ z are north, east and vertical distances under a carrier (AUV) coordinate system, and the calculation results x _ d, y _ d and z _ d are east, north and vertical distances under a geodetic coordinate system.
After transformation is completed, the position of the target under the geodetic coordinate system is calculated by combining the AUV position, and a butt joint navigation line is planned.
The fourth stage is a terminal guiding stage, and the updating frequency of the target position calculated by using the acoustic data is improved because the distance between the terminal guiding stage and the docking device is short. When the optical navigation data is acquired, the target position is updated using the optical navigation data instead. As shown in fig. 3, the optical guidance installation light beacon is provided with a guidance light at the edge of the dome of the docking device, and the docking AUV visually acquires data such as the direction and the posture of the entrance of the docking device, and the position deviation between the bow of the AUV and the entrance of the docking device. Considering that effective optical guidance data cannot be acquired due to the influence of factors such as light, water quality and the like in an actual docking task, an acousto-optic combined guidance switching strategy is designed, namely after the AUV approaches the docking device, as shown in FIG. 4, if the optical data is effective, the optical data is used for guidance, otherwise, the acoustic data is used for finishing end guidance.
An autonomous docking route planning method for dynamic docking.
And (3) completing target position calculation, planning a docking route according to the target position and the course, and adjusting the starting point and the terminal point of the docking route in real time along with the position change of the docking device, wherein the docking route is planned as shown in fig. 5. Firstly, after a target position is obtained, autonomous path planning is carried out, and a starting point and an end point of a butt joint air route are determined; sailing towards the starting point of the butt joint air route, finishing the planning of a butt joint path in actual butt joint, enabling the distance to the starting point of the butt joint air route to be longer, enabling the position to be continuously changed, adjusting the butt joint air route in real time by an AUV according to the obtained target position change information, and sailing towards the starting point of the adjusted butt joint air route; thirdly, performing long-distance guidance, and navigating in a closed loop along the position of the butt joint route after reaching the starting point of the butt joint route; end guiding, increasing the target updating rate after approaching the target position, and using a combined acoustic and optical guiding mode; executing the butt joint action with the butt joint device, if the butt joint is finished, executing the next action according to the command of the butt joint device, and if the butt joint is not finished, replanning the butt joint path for the second butt joint.
A dynamic docking path following method based on acoustic and optical target position calculation results.
The docking stage is divided into three parts, namely a stage of navigating to the starting point of a docking route, a remote guidance stage and a terminal guidance stage. The first two stages use optical data guidance to correct the position and the course of the target, and acousto-optic combined guidance is used at the tail end due to the limitation of optical action distance.
And in the stage of navigating to the starting point of the docking route, the AUV plans the navigation behavior from the current position to the starting point of the docking route, and the navigation control method comprises the following steps:
whereinΔ h is a function of the difference between the current course and the target course
(including a PID control strategy and a heading deviation delta h' calculation method) calculating the included angle between the connecting line of the current position and the target position and the current route. During the course of sailing to the starting point of the butt joint air route, the target position lon is aligned according to the acoustic signaltAnd latt(namely the longitude and latitude degrees of the target position) is calculated, and the target position is updated after filtering. And after the course error value is calculated, carrying out horizontal plane navigation control according to a course PID control method.
As shown in fig. 6, after reaching the start point of the docking route, unlike the closed-loop navigation control strategy toward the docking start point, both the long-distance guidance stage and the end guidance stage navigate according to the closed-loop navigation control strategy. The track closed-loop control strategy is that on the basis of a course PID control method, a track closed-loop PID control strategy is added:
wherein Δ hdisAnd delta dis is a distance value from a target flight path for a flight path yaw angle. According to the distance value between the target route and the target route, the track yaw angle delta h is calculateddisTherefore, the course deviation delta h' is calculated as follows:
Δh′＝Δhdock-Δhdis
wherein, the delta h' is course deviation and forms an included angle delta h with the inlet axis of the butt joint devicedockAnd calculating the deviation angle delta dis from the track. And after calculating the course error value, carrying out horizontal plane navigation control according to a course PID control method. In the dynamic docking process, the position of the docking device and the direction of an inlet of the docking device are constantly changed under the influence of factors such as position change of the docking device, ocean currents and the like, after the docking AUV completes updating of a new docking route, direction and track deviation are calculated according to a new distance delta dis' between the docking AUV and a target route, following of the docking AUV and the docking route is achieved, and then dynamic docking is achieved.
Examples
In the actual docking process, the target position is firstly searched for by the docked AUV, the searching scheme is shown in FIG. 7, the AUV searches sequentially along the first to the fifth, a represents the long-distance searching path length, b represents one half of the short-distance surrounding searching side length, and c represents the maximum deviation of the target actual position and the predicted position. After entering a docking mission, starting sailing along a planned docking path, and judging to circularly run after the AUV starts sailing along a search mission, wherein the two judged ending conditions are as follows: (1) completing all path search but not acquiring acoustic signals meeting the conditions; and (2) acquiring the acoustic signal meeting the satisfied condition. Firstly, judging whether all search paths are finished under the condition that acoustic data are not acquired, if not, judging whether the current path reaches the end point, if so, issuing the next search path, and if not, continuing searching.
After the target search is completed, a docking route is planned according to the autonomous docking route planning method facing the dynamic docking, and the user navigates to the starting point of the docking route. During the course of sailing to the starting point, the starting point and the ending point of the docking route need to be updated according to the position of the docking device because the position of the docking device is constantly changing. And after 5 groups of acoustic data are received, median filtering is carried out, two groups of extreme values are removed, and the target position is settled after averaging.
And after the ship arrives at the starting point of the butt joint route, entering a remote guidance stage, adjusting the butt joint route according to the acoustic calculation data, and navigating along the butt joint route. In the process of long-distance guidance, the target position is calculated every time ten groups of acoustic data are acquired, the butt joint route is updated according to the target position, and the updating strategy is as follows:
if the number of the range values is less than 15 meters and is more than 0, the range values are less than 15 meters, the target position is calculated and the butt joint air route is updated, otherwise, the process goes to step two;
if the number of the range values smaller than 30 meters is larger than 0, resolving the target position by using the range values smaller than 30 meters and updating the butt joint route, otherwise entering step three;
and thirdly, if the range value is smaller than 50 meters, the number of the data is larger than 5, screening five groups of data with smaller range values, carrying out median filtering, removing two groups of extreme points, and then resolving the target position, and if the number of the data is smaller than 5 and larger than 0, carrying out median filtering, removing the extreme points according to the proportion, and then resolving the target position. If no range value is less than 50 meters, entering the fourth step;
and fourthly, if the range value does not have data smaller than 50 meters, screening five groups of data with smaller range values for median filtering, and calculating the target position after removing two groups of extreme points.
Approaching the docking device, namely after entering a terminal guide stage, improving the updating frequency of the target position calculated by using acoustic data due to the fact that the distance between the docking device and the target position is short, and directly updating the target position by using the data if the obtained data range value is less than 5 meters; and if the data range value is larger than 5 meters and smaller than 20 meters, averaging every three groups of data and then updating the target position. When the optical navigation data is acquired, the target position is updated using the optical navigation data instead.
If the butt joint of the AUV is finished, entering the butt joint device, and finishing corresponding actions such as motor stalling, charging communication and the like according to an instruction sent by the butt joint device; if the docking is not finished, judging the reason of the failure of the docking, if the docking device is missed, replanning, executing the docking again, if the docking device is blocked, executing the difficulty-removing treatment, and reporting to the water surface control platform.
Claims (5)
1. A heavy AUV dynamic/static target autonomous docking method based on acousto-optic combined guidance is characterized by comprising the following steps:
1) and (3) matrix position searching: the AUV searches acoustic positioning data sent by a matrix on a target to determine the position of the target;
2) sailing towards the starting point of the butt joint route: planning a docking route according to the target position, and navigating to the starting point of the docking route;
3) a remote guidance stage: adjusting the docking route according to the target position to enable the AUV to navigate along the docking route;
4) end distance guiding stage: the target location update frequency is increased using acoustic positioning data, and the AUV is caused to reach the target location using optical guidance when optical positioning data is received.
2. The autonomous docking method for the heavy AUV dynamic/static target based on acousto-optic combined guidance according to claim 1, wherein the determining the target position specifically comprises:
x_d＝-(cos(h)(cos(p)*x_z-sin(p)(sin(r)*y_z+CoS(r)*z_z))-sin(h)(cos(r)*y_z-sin(r)*z_z))
y_d＝-(sin(h)(cos(p)*x_z-sin(p)(sin(r)*y_z+cos(r)*z_z))+cos(h)(cos(r)*y_z-sin(r)*z_z))
z_d＝sin(p)*x_z+cos(p)*(sin(r)*y_z+cos(r)*z_z)
h, p and r respectively represent the heading, the pitching angle and the rolling angle of the AUV, x _ z, y _ z and z _ z are respectively the north, east and vertical distances of the AUV under a carrier coordinate system, and x _ d, y _ d and z _ d are respectively the east, north and vertical distances of the target under a geodetic coordinate system.
3. The autonomous docking method for the heavy AUV dynamic/static target based on acousto-optic combined guidance according to claim 1, wherein the docking route is adjusted according to the target position so that the AUV navigates along the docking route, specifically: obtaining course deviation according to the difference value between the current track yaw angle of the AUV and the target track yaw angle; and summing the deviation and the current course of the AUV to obtain a target course, updating the docking route according to the target course, and navigating the AUV along the updated docking route.
4. The autonomous docking method for the heavy AUV dynamic/static target based on the acousto-optic combined guidance according to claim 3, wherein the heading deviation is obtained according to the difference between the current track yaw angle of the AUV and the target track yaw angle, and specifically comprises:
wherein,. DELTA.hdisAs track yaw angle, Kp、Ki、KdRespectively as proportional coefficient, integral coefficient and differential coefficient, and delta dis is current AUV and targetA marked route distance value;
the course deviation Δ h' is as follows:
Δh′＝Δhdock-Δhdis
wherein, the delta h' is course deviation, and the angle delta h is formed by the current course of the AUV and the target axisdockYaw angle delta h with trackdisAnd (6) calculating.
5. The autonomous docking method for the heavy AUV dynamic/static target based on acousto-optic combined guidance of claim 1, wherein in step 4), when the AUV acquires the optical guidance data, the target position is updated by using the optical guidance data.
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| CN115158609A (en) * | 2022-06-15 | 2022-10-11 | 西北工业大学 | Cage type underwater base station system and underwater vehicle |
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