阅读说明：本技术 一种用于水下自主航行器集群的位置测定方法及相关装置 (Position determination method for underwater autonomous vehicle cluster and related device ) 是由 商志刚 杨丰茂 安妍妍 王成才 何宇帆 付圣峰 张博 楚立鹏 于 2020-04-19 设计创作，主要内容包括：本发明公开了一种用于水下自主航行器集群的位置测定方法及相关装置,本发明在每个水下自主航行器上均设置声源、矢量水听器和控制器,通过声源发射声源信号,矢量水听器监测该声源信号,最后通过控制器对声源信号进行处理,最终确定各个水下自主航行器的位置,进而实现对水下自主航行器集群的整体控制,从而有效解决了现有技术中不能精确对水下自主航行器集群进行定位的问题。(The invention discloses a position determination method and a related device for an underwater autonomous vehicle cluster.)

1. A method for position estimation for an autonomous underwater vehicle cluster, comprising: the underwater autonomous vehicle cluster comprises a plurality of underwater autonomous vehicles, and each underwater autonomous vehicle is provided with a sound source, a vector hydrophone and a controller;

triggering all sound sources to transmit sound source signals at a preset time point, wherein each sound source uniquely corresponds to one transmitting frequency;

each vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous aircrafts, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to a controller on the underwater autonomous aircraft where the vector hydrophone is located;

and the controller determines the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration speed signal in the three-dimensional direction and the attitude information of the underwater autonomous aircrafts.

2. The method according to claim 1, wherein before triggering all sound sources to emit sound source signals at a preset time point, further comprising:

and carrying out unified time service on all the underwater autonomous aircrafts.

3. The method according to claim 1, wherein the controller determines the positions of other underwater autonomous vehicles according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction and the attitude information of the underwater autonomous vehicle, and comprises the following steps:

the controller converts the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction;

after the sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction are preprocessed and free field compensated, the relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles is determined based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction;

and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.

4. The method according to claim 2, wherein determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction comprises:

determining time delay information according to the compensated sound pressure digital signals, and determining distance information between the vector hydrophone and each other underwater autonomous vehicle based on the time delay information;

calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction;

and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.

5. A position determination device for an autonomous underwater vehicle cluster, comprising:

the system comprises sound sources, a control unit and a processing unit, wherein the sound sources are used for transmitting sound source signals at preset time points according to triggering, and each sound source uniquely corresponds to one transmitting frequency;

the vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous vehicles, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to corresponding controllers;

and the controller is used for determining the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction and the attitude information of the underwater autonomous aircraft.

6. The apparatus of claim 5, further comprising: a time service unit;

and the time service unit is used for carrying out unified time service according to the trigger.

7. The apparatus of claim 5, wherein the controller further comprises:

the digital acquisition card is used for converting the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction by the controller and preprocessing the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;

the signal processing board is used for performing free field compensation on the preprocessed sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction, and then determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction; and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.

8. The apparatus of claim 7,

the signal processing board is further used for determining time delay information according to the compensated sound pressure digital signals and determining distance information between the vector hydrophone and each other underwater autonomous vehicle based on the time delay information; calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction; and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.

9. The apparatus of any one of claims 5-8, wherein the controller further comprises: a signal generator and a transmitting module;

the signal generator is used for generating a sound source signal with a preset waveform;

and the transmitting module is used for amplifying the sound source signal, sending the amplified sound source signal to the sound source and triggering the sound source to transmit the sound source signal.

10. An autonomous underwater vehicle comprising a position estimation device for clusters of autonomous underwater vehicles according to any of claims 5 to 9.

Technical Field

The invention relates to the technical field of communication, in particular to a position determination method and a related device for an underwater autonomous vehicle cluster.

Background

As is well known, most of the earth is covered by the ocean, so the understanding and exploration of the ocean are very important, but the problems of energy, communication, ocean construction and the like are limited, the underwater monitoring equipment usually works independently, and compared with other communication technologies, the underwater autonomous vehicle clustering technology is still in a starting stage, so that how to realize the accurate positioning of the underwater autonomous vehicle clustering is a problem to be solved urgently.

Disclosure of Invention

The invention provides a position determination method and a related device for an underwater autonomous vehicle cluster, which are used for solving the problem that the underwater autonomous vehicle cluster cannot be accurately positioned in the prior art.

In a first aspect, the present invention provides a method for determining the position of a cluster of autonomous underwater vehicles, characterized in that it comprises: the underwater autonomous vehicle cluster comprises a plurality of underwater autonomous vehicles, and each underwater autonomous vehicle is provided with a sound source, a vector hydrophone and a controller;

triggering all sound sources to transmit sound source signals at a preset time point, wherein each sound source uniquely corresponds to one transmitting frequency;

each vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous aircrafts, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to a controller on the underwater autonomous aircraft where the vector hydrophone is located;

and the controller determines the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration speed signal in the three-dimensional direction and the attitude information of the underwater autonomous aircrafts.

Optionally, before triggering all sound sources to emit sound source signals at the preset time point, the method further includes: and carrying out unified time service on all the underwater autonomous aircrafts.

Optionally, the determining, by the controller, the positions of other underwater autonomous vehicles according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction, and the attitude information of the underwater autonomous vehicle itself includes:

the controller converts the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction;

after the sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction are preprocessed and free field compensated, the relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles is determined based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction;

and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.

Optionally, determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction includes:

determining time delay information according to the compensated sound pressure digital signals, and determining distance information between the vector hydrophone and each other underwater autonomous vehicle based on the time delay information;

calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction;

and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.

In a second aspect, the present invention provides a position determination apparatus for an autonomous underwater vehicle cluster, the apparatus comprising:

the sound source is used for transmitting sound source signals at a preset time point according to triggering, wherein each sound source only corresponds to one transmitting frequency;

the vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous vehicles, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to corresponding controllers;

and the controller is used for determining the positions of other underwater autonomous aircrafts according to the sound pressure signal, the vibration velocity signal in the three-dimensional direction and the attitude information of the underwater autonomous aircraft.

Optionally, the apparatus further comprises: a time service unit; and the time service unit is used for carrying out unified time service according to the trigger.

Optionally, the controller further comprises:

the digital acquisition card is used for converting the sound pressure signal and the vibration velocity signal in the three-dimensional direction into a sound pressure digital signal and a vibration velocity digital signal in the three-dimensional direction by the controller and preprocessing the sound pressure digital signal and the vibration velocity digital signal in the three-dimensional direction;

the signal processing board is used for performing free field compensation on the preprocessed sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction, and then determining relative position information between the underwater autonomous vehicle and other underwater autonomous vehicles based on the compensated sound pressure digital signal and the vibration speed digital signal in the three-dimensional direction; and determining the position information of other underwater autonomous vehicles according to the attitude information, the geographic position and the relative position information between the other underwater autonomous vehicles.

Optionally, the signal processing board is further configured to determine time delay information according to the compensated sound pressure digital signal, and determine distance information between the vector hydrophone and each of the other underwater autonomous vehicles based on the time delay information; calculating azimuth information between the vector hydrophone and each other underwater autonomous vehicle through a direction finding algorithm according to the compensated vibration speed digital signals in the three-dimensional direction; and determining relative position information between the own underwater autonomous vehicle and other underwater autonomous vehicles according to the distance information and the azimuth information.

Optionally, the controller further comprises: a signal generator and a transmitting module;

the signal generator is used for generating a sound source signal with a preset waveform;

and the transmitting module is used for amplifying the sound source signal, sending the amplified sound source signal to the sound source and triggering the sound source to transmit the sound source signal.

In a third aspect, the invention provides an underwater autonomous vehicle comprising the position determination device for an underwater autonomous vehicle cluster described above.

The invention has the following beneficial effects:

according to the invention, each underwater autonomous vehicle is provided with the sound source, the vector hydrophone and the controller, the sound source signal is emitted through the sound source, the vector hydrophone monitors the sound source signal, and finally the sound source signal is processed through the controller, so that the position of each underwater autonomous vehicle is finally determined, and further the integral control of an underwater autonomous vehicle cluster is realized, and the problem that the underwater autonomous vehicle cluster cannot be accurately controlled in the prior art is effectively solved.

Drawings

Fig. 1 is a schematic flow chart of a position determination method for an underwater autonomous vehicle cluster according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a position determination device for an underwater autonomous vehicle cluster, provided by a first embodiment of the invention;

FIG. 3 is a schematic illustration of position determination for an autonomous underwater vehicle cluster provided by a first embodiment of the present invention;

fig. 4 is a schematic workflow diagram of a position determination method for an underwater autonomous vehicle cluster according to a first embodiment of the present invention;

fig. 5 is a schematic structural diagram of a position determination device for an underwater autonomous vehicle cluster according to a first embodiment of the present invention.

Detailed Description

Aiming at the problem that the underwater autonomous vehicle cluster cannot be accurately controlled in the prior art, the embodiment of the invention arranges the sound source, the vector hydrophone and the controller on each underwater autonomous vehicle, the sound source emits a sound source signal, the vector hydrophone monitors the sound source signal, and finally the controller processes the sound source signal to finally determine the position of the underwater autonomous vehicle cluster, thereby realizing the integral control of the underwater autonomous vehicle cluster and effectively solving the problem that the underwater autonomous vehicle cluster cannot be accurately controlled in the prior art. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.

The first embodiment of the invention provides a position determination method for an underwater autonomous vehicle cluster, wherein the underwater autonomous vehicle cluster comprises a plurality of underwater autonomous vehicles, and each underwater autonomous vehicle is provided with a sound source, a vector hydrophone and a controller; referring to fig. 1, the method includes:

s101, triggering all sound sources to transmit sound source signals at a preset time point, wherein each sound source uniquely corresponds to one transmitting frequency;

because the underwater autonomous vehicles measure the distance in a time delay manner, the unification of clocks among different underwater autonomous vehicles is the key of the accuracy of distance measurement, so that accurate time service needs to be performed on each underwater autonomous vehicle, for example, the unified time service can be performed before each underwater autonomous vehicle enters water, and in order to further ensure the accuracy of the measured position, the embodiment of the invention adopts the high-precision crystal oscillator module for timing, and the GPS/Beidou time service is performed after water is discharged at intervals, so that the unification of the clocks among the underwater autonomous vehicles is further ensured.

In specific implementation, in order to distinguish sound source signals emitted by different underwater autonomous vehicles, in the embodiment of the present invention, each sound source signal emitted by each sound source uniquely corresponds to one emission frequency, that is, a frequency division multiple access manner is adopted in the embodiment of the present invention, that is, each node (i.e., an underwater autonomous vehicle) is exclusively provided with a signal of one frequency band, each node also distinguishes other nodes by receiving frequency spectrum information of the signal, and a specific signal form needs to adopt signals which are easy to perform correlation extraction, such as chirp signals and the like. The position of the underwater autonomous vehicle is determined by triggering a sound source to emit a sound source signal at a uniformly specified time point and then processing the sound source signal.

S102, each vector hydrophone acquires a sound pressure signal and a vibration velocity signal in a three-dimensional direction of each sound source signal according to the sound source signals of other underwater autonomous aircrafts, and sends the sound pressure signal and the vibration velocity signal in the three-dimensional direction to a controller of the underwater autonomous aircraft where the vector hydrophone is located;

specifically, the vector hydrophone in the embodiment of the invention is in a real-time monitoring state, is a device for sensing sound pressure and vibration velocity at the arrangement position, and outputs analog signals of the sound pressure and the vibration velocity;