positioning system and method for UUV recovery process
阅读说明：本技术 一种用于uuv回收过程的定位系统及方法 (positioning system and method for UUV recovery process ) 是由 吕小鹏 吴国俊 邵建锋 杨钰城 于 2019-09-30 设计创作，主要内容包括：本发明涉及一种用于UUV回收过程的定位系统及方法,本发明解决了利用声学传感器定位UUV时所带来的定位精度低、换能器体积大、功耗大等问题。该系统包括安装在UUV前端的四元光电探测器、安装在回收站前端的第一LED灯组、安装在回收站后端的第二LED灯组；控制第一LED灯组和第二LED灯组的LED灯控制器以及与进行数据处理计算的上位机。其定位方法的主要步骤为：1、制定编码规则；2、制定解码规则；3、LED灯控制器根据编码规则LED灯发光,LED灯的光信号传输至四元光电探测器；4、四元光电探测器将光信号转换为电压信号发送至上位机；5、上位机利用解码规则、电压信号大小进行数据处理,从而得到UUV和回收站的距离及方位关系。(The invention relates to positioning systems and methods for UUV recovery processes, and solves the problems of low positioning accuracy, large volume of a transducer, large power consumption and the like caused by positioning a UUV by using an acoustic sensor.)
The positioning system for the UUV recovery process is characterized by comprising a quaternary photoelectric detector, a LED lamp group, a second LED lamp group, an LED lamp controller and an upper computer;
the quaternary photoelectric detector is arranged at the front end of the UUV;
the -th LED lamp group comprises three LED lamps, the three LED lamps are positioned on the same plane, and connecting lines among the three LED lamps form equilateral triangles;
the second LED lamp group comprises three LED lamps, the three LED lamps are positioned on the same plane, and connecting lines among the three LED lamps form equilateral triangles;
the host computer with quaternary photoelectric detector is connected, LED banks, second LED banks are connected with the LED lamp controller respectively.
2, positioning method for UUV recovery process, characterized in that the following steps are executed by using the positioning system for UUV recovery process as claimed in claim 1:
step 1, formulating coding rules of six LED lamps in the LED lamp group and the second LED lamp group, and uploading the coding rules to an LED lamp controller, wherein the coding rules are the light emitting sequence of the six LED lamps;
step 2, formulating decoding rules of the LED lamp group and the second LED lamp group, and uploading the two decoding rules to an upper computer, wherein the decoding rules are rules for the upper computer to analyze the acquired digital signals;
and step 3: the LED lamp controller controls six LED lamps to flicker and emit light circularly according to the coding rule, and an optical signal of each LED lamp is transmitted to the quaternary photoelectric detector through a water medium;
step 4, when the quaternary photoelectric detector is in the field of view of the th LED lamp group, executing the step 5-7 by using the optical signal of the th LED lamp group, and after the UUV sails for sections of distance in the direction of the recycle bin, when the quaternary photoelectric detector is out of the field of view of the th LED lamp group, executing the step 5-7 by using the optical signal of the second LED lamp group;
step 5, receiving light signals of every LED lamps in the th LED lamp group and the second LED lamp group by a quaternary photoelectric detector, converting the light signals into voltage signals, acquiring the voltage signals by an upper computer, converting the voltage signals into digital signals, comparing the digital signals with a th LED lamp group decoding rule or a second LED lamp group decoding rule, and identifying light emitting information of three LED lamps in the th LED lamp group or light emitting information of three LED lamps in the second LED lamp group;
step 6, calculating included angles and offset directions in the horizontal direction and the vertical direction between the quaternary photoelectric detector and each LED lamps in the th LED lamp group or the second LED lamp group according to the voltage signals of four pixels in the quaternary photoelectric detector;
and 7, calculating the distance and the orientation relation between the quaternary photoelectric detector and the center of an equilateral triangle formed by the LED lamp group or the second LED lamp group by utilizing the geometric relation between the quaternary photoelectric detector and the LED lamp group or the second LED lamp group, namely obtaining the distance and the orientation relation between the UUV and the recycling station.
3. The positioning method for the UUV recovery process according to claim 2, wherein: the encoding rule is specifically:
setting time T as large periods, and dividing the time T into 9 small periods T1-T9;
wherein: during a small period t1, the No. 1 LED lamp is on;
during a small period t2, all the LED lamps are completely turned off;
during a small period t3, the No. 2 LED lamp is on;
during a small period t4, the No. 3 LED lamp is on;
during a small period t5, all the LED lamps are completely turned off;
during a small period t6, the No. 4 LED lamp is on;
during a small period t7, the No. 5 LED lamp is on;
during a small period t8, the No. 6 LED lamp is on;
during a small period t9, all the LED lamps are completely turned off;
the No. 1 LED lamp, the No. 2 LED lamp and the No. 3 LED lamp form an LED lamp group, and the No. 4 LED lamp, the No. 5 LED lamp and the No. 6 LED lamp form a second LED lamp group.
4. The positioning method for the UUV recovery process according to claim 2, wherein: the decoding rule is specifically:
the decoding rule for the th LED light group has the following six cases:
case 1: the digital signal is 10110XXXX, which indicates that the No. 1 LED lamp is on in a small period t1, the No. 2 LED lamp is on in a small period t3, and the No. 3 LED lamp is on in a small period t 4;
case 2: the digital signal is 1010110XX, which indicates that the No. 1 LED lamp is on in a small period t3, the No. 2 LED lamp is on in a small period t5, and the No. 3 LED lamp is on in a small period t 6;
case 3: the digital signal is 1X01011XX, which indicates that the No. 1 LED lamp is on in a small period t4, the No. 2 LED lamp is on in a small period t6, and the No. 3 LED lamp is on in a small period t 7;
case 4: the digital signal is 1XX010110, which indicates that the No. 1 LED lamp is on in a small period t5, the No. 2 LED lamp is on in a small period t7, and the No. 3 LED lamp is on in a small period t 8;
case 5: the digital signal is 10XXX0101, which indicates that the No. 1 LED lamp is on in a small period t7, the No. 2 LED lamp is on in a small period t9, and the No. 3 LED lamp is on in a small period t 1;
case 6: the digital signal is 110XXX010, which indicates that the No. 1 LED lamp is on in a small period t8, the No. 2 LED lamp is on in a small period t1, and the No. 3 LED lamp is on in a small period t 2;
the following six cases are decoded for the second LED light group:
case 1: the digital signal is 1110X0XX0, which indicates that the No. 4 LED lamp is on in a small period t1, the No. 5 LED lamp is on in a small period t2, and the No. 6 LED lamp is on in a small period t 3;
case 2: the digital signal is 101110XXX, which indicates that the No. 4 LED lamp is on in a small period t3, the No. 5 LED lamp is on in a small period t4, and the No. 6 LED lamp is on in a small period t 5;
case 3: the digital signal is 1X01110X0, which indicates that the No. 4 LED lamp is on in a small period t4, the No. 5 LED lamp is on in a small period t5, and the No. 6 LED lamp is on in a small period t 6;
case 4: the digital signal is 10XX01110, which indicates that the No. 4 LED lamp is on in a small period t6, the No. 5 LED lamp is on in a small period t7, and the No. 6 LED lamp is on in a small period t 8;
case 5: the digital signal is 10X0XX011, namely that the No. 4 LED lamp is on in a small period t8, the No. 5 LED lamp is on in a small period t9, and the No. 6 LED lamp is on in a small period t 1;
case 6: the digital signal is 110X0XX01, which indicates that the No. 4 LED lamp is on in a small period t9, the No. 5 LED lamp is on in a small period t1, and the No. 6 LED lamp is on in a small period t 2;
wherein, 1 represents lamp on, 0 represents lamp off, and X represents 1 or 0.
5. The positioning method for the UUV recovery process as claimed in claim 2, wherein in the step 6, the specific calculation formula of the horizontal included angle phi and the vertical included angle theta between the quaternary photoelectric detector and each LED lamps in the -th LED lamp group or the second LED lamp group is as follows:
kx, Ky, mx and my are four-element photoelectric detector calibration values and are constants, and U is1、U2、U3、U4Four pixel voltage signal values for a four-element photodetector.
6. The positioning method for the UUV recovery process as claimed in claim 3, wherein the specific calculation formula of the offset orientations Dirx and Diry between the quaternary photodetector and each LED lamps in the th LED lamp group or the second LED lamp group in the step 6 is as follows:
wherein, Dirx ═ 1 represents that the LED lamp is on the right side of the center point of the quaternary photodetector; diry ═ 1 denotes that the LED lamp is on the lower side of the center point of the quaternary photodetector.
7. The positioning method for the UUV recovery process according to claim 6, wherein: the specific implementation steps of the step 7 are as follows:
step 7.1, calculating included angles ∠ AOB, ∠ BOC and ∠ COA between every two LED lamps in the th LED lamp group or the second LED lamp group and the quaternary photoelectric detector;
a, B, C respectively represents the central positions of three LED lamps in the LED lamp group or the second LED lamp group, and 0 represents the central position of the quaternary photoelectric detector;
φA、φB、φCcomplementary angles of horizontal included angles between the quaternary photoelectric detector and each LED lamp in the th LED lamp group or the second LED lamp group are respectively;
θA、θB、θCcomplementary angles of vertical included angles between the quaternary photoelectric detector and each LED lamp in the th LED lamp group or the second LED lamp group are respectively formed;
step 7.2, judging ∠ AOB, ∠ BOC and ∠ COA angle size relationship, and calculating OA, OB and OC values;
making the maximum value of angles of ∠ AOB, ∠ BOC and ∠ COA be α, the middle value of the angles be β and the minimum value of the angles be gamma, wherein α, β and gamma are all smaller than 60 degrees;
case 1, if α - β - γ is the case
Wherein r is the side length of an equilateral triangle formed by the th LED lamp group or the second LED lamp group;
case 2: α ≠ β ≠ γ or α ≠ β ≠ γ or α ≠ β or α ≠ γ ≠ β,
setting the length of the public side between α and β as mid, the minimum value of mid as low and the maximum value as upp;
and th order, low-r,mid is 0.5 × (low + upp), after which the calculation according to the following formulae (1) to (3) is started:
if r3-r1If | < epsilon, and epsilon is distance precision, mid, r are output1，r2Skipping to step 7.3;
if r3＞r1+ ε, let upp be the mid value of times before, and recalculate mid value, substituting this value into equations (1) - (3) and continuing the calculation until condition | r is satisfied3-r1If | < ε, output mid, r1，r2Skipping to step 7.3;
if r3＜r1ε, let low be the mid value of times before, recalculate mid value, substitute this value into equations (1) - (3), and continue calculation until the condition | r is satisfied3-r1If | < ε, output mid, r1，r2Skipping to step 7.3;
7.3, calculating the distance 0D between the center position of the quaternary photoelectric detector and the center point D of an equilateral triangle formed by the th LED lamp group or the second LED lamp group or the center point H of an equilateral triangle formed by the second LED lamp group;
step 7.4, calculating an included angle phi between the center 0 of the quaternary photoelectric detector and the center D of the th LED lamp group or the center H of the second LED lamp group in the horizontal directiondAngle theta in the vertical directiond；
According to the correspondence relationship among ∠ AOB, ∠ BOC, ∠ COA and α, β and gamma in step 7.2, mid is between α and β, and r is between β and gamma2R between γ and α10A, 0B, 0C and mid, r1、r2 correspond to each other;
step 7.5, calculating the orientation relation Dirox and Diroy between the center position of the quaternary photoelectric detector and the center point D of an equilateral triangle formed by the th LED lamp group or the second LED lamp group,
the Dir1X, Dir2X and Dir3X are respectively the four-element photoelectric detector and the X-axis horizontal direction of three LED lamps in the th LED lamp group or the second LED lamp group, and the Dir1y, Dir2y and Dir3y are respectively the four-element photoelectric detector and the th LED lamp group or the Z-axis vertical direction of three LED lamps in the second LED lamp group.
Technical Field
The invention relates to positioning systems and methods, in particular to positioning systems and methods for UUV recovery process.
Background
In recent years, Unmanned Underwater Vehicles (UUV) are increasingly heated in recovery research, the UUV carries a plurality of sensors such as sound, pressure and light, collision is avoided in the recovery process, and the safety of the sensors is ensured.
Disclosure of Invention
In order to solve the problems of low positioning precision, large transducer volume, high power consumption and the like caused by positioning a UUV by using an acoustic sensor in the UUV recovery process, the invention provides positioning systems and methods for the UUV recovery process.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides positioning systems for UUV recovery processes, which comprise a quaternary photoelectric detector, a LED lamp group, a second LED lamp group, an LED lamp controller and an upper computer, wherein the quaternary photoelectric detector is connected with the quaternary photoelectric detector;
the quaternary photoelectric detector is arranged at the front end of the UUV;
the -th LED lamp group comprises three LED lamps, the three LED lamps are positioned on the same plane, and connecting lines among the three LED lamps form equilateral triangles;
the second LED lamp group comprises three LED lamps, the three LED lamps are positioned on the same plane, and connecting lines among the three LED lamps form equilateral triangles;
the host computer with quaternary photoelectric detector is connected, LED banks, second LED banks are connected with the LED lamp controller respectively.
Based on the introduction of the system, a positioning method for the UUV recovery process by using the system is described, and the specific execution steps are as follows:
step 2, formulating decoding rules of the LED lamp group and the second LED lamp group, and uploading the two decoding rules to an upper computer, wherein the decoding rules are rules for the upper computer to analyze the acquired digital signals;
and step 3: the LED lamp controller controls six LED lamps to flicker and emit light circularly according to the coding rule, and an optical signal of each LED lamp is transmitted to the quaternary photoelectric detector through a water medium;
step 4, when the quaternary photoelectric detector is in the field of view of the th LED lamp group, executing the step 5-7 by using the optical signal of the th LED lamp group, and after the UUV sails for sections of distance in the direction of the recycle bin, when the quaternary photoelectric detector is out of the field of view of the th LED lamp group, executing the step 5-7 by using the optical signal of the second LED lamp group;
step 5, receiving light signals of every LED lamps in the th LED lamp group and the second LED lamp group by a quaternary photoelectric detector, converting the light signals into voltage signals, acquiring the voltage signals by an upper computer, converting the voltage signals into digital signals, comparing the digital signals with a th LED lamp group decoding rule or a second LED lamp group decoding rule, and identifying light emitting information of three LED lamps in the th LED lamp group or light emitting information of three LED lamps in the second LED lamp group;
step 6, calculating included angles and offset directions in the horizontal direction and the vertical direction between the quaternary photoelectric detector and each LED lamps in the th LED lamp group or the second LED lamp group according to the voltage signals of four pixels in the quaternary photoelectric detector;
and 7, calculating the distance and the orientation relation between the quaternary photoelectric detector and the center of an equilateral triangle formed by the LED lamp group or the second LED lamp group by utilizing the geometric relation between the quaternary photoelectric detector and the LED lamp group or the second LED lamp group, namely obtaining the distance and the orientation relation between the UUV and the recycling station.
, the encoding rule is specifically:
setting time T as large periods, and dividing the time T into 9 small periods T1-T9;
wherein: during a small period t1, the No. 1 LED lamp is on;
during a small period t2, all the LED lamps are completely turned off;
during a small period t3, the No. 2 LED lamp is on;
during a small period t4, the No. 3 LED lamp is on;
during a small period t5, all the LED lamps are completely turned off;
during a small period t6, the No. 4 LED lamp is on;
during a small period t7, the No. 5 LED lamp is on;
during a small period t8, the No. 6 LED lamp is on;
during a small period t9, all the LED lamps are completely turned off;
the No. 1 LED lamp, the No. 2 LED lamp and the No. 3 LED lamp form an LED lamp group, and the No. 4 LED lamp, the No. 5 LED lamp and the No. 6 LED lamp form a second LED lamp group.
Further , the decoding rule specifically includes:
the decoding rule for the th LED light group has the following six cases:
case 1: the digital signal is 10110XXXX, which indicates that the No. 1 LED lamp is on in a small period t1, the No. 2 LED lamp is on in a small period t3, and the No. 3 LED lamp is on in a small period t 4;
case 2: the digital signal is 1010110XX, which indicates that the No. 1 LED lamp is on in a small period t3, the No. 2 LED lamp is on in a small period t5, and the No. 3 LED lamp is on in a small period t 6;
case 3: the digital signal is 1X01011XX, which indicates that the No. 1 LED lamp is on in a small period t4, the No. 2 LED lamp is on in a small period t6, and the No. 3 LED lamp is on in a small period t 7;
case 4: the digital signal is 1XX010110, which indicates that the No. 1 LED lamp is on in a small period t5, the No. 2 LED lamp is on in a small period t7, and the No. 3 LED lamp is on in a small period t 8;
case 5: the digital signal is 10XXX0101, which indicates that the No. 1 LED lamp is on in a small period t7, the No. 2 LED lamp is on in a small period t9, and the No. 3 LED lamp is on in a
case 6: the digital signal is 110XXX010, which indicates that the No. 1 LED lamp is on in a small period t8, the No. 2 LED lamp is on in a small period t1, and the No. 3 LED lamp is on in a small period t 2;
the following six cases are decoded for the second LED light group:
case 1: the digital signal is 1110X0XX0, which indicates that the No. 4 LED lamp is on in a small period t1, the No. 5 LED lamp is on in a small period t2, and the No. 6 LED lamp is on in a small period t 3;
case 2: the digital signal is 101110XXX, which indicates that the No. 4 LED lamp is on in a small period t3, the No. 5 LED lamp is on in a small period t4, and the No. 6 LED lamp is on in a small period t 5;
case 3: the digital signal is 1X01110X0, which indicates that the No. 4 LED lamp is on in a small period t4, the No. 5 LED lamp is on in a small period t5, and the No. 6 LED lamp is on in a small period t 6;
case 4: the digital signal is 10XX01110, which indicates that the No. 4 LED lamp is on in a small period t6, the No. 5 LED lamp is on in a small period t7, and the No. 6 LED lamp is on in a small period t 8;
case 5: the digital signal is 10X0XX011, namely that the No. 4 LED lamp is on in a small period t8, the No. 5 LED lamp is on in a small period t9, and the No. 6 LED lamp is on in a
case 6: the digital signal is 110X0XX01, which indicates that the No. 4 LED lamp is on in a small period t9, the No. 5 LED lamp is on in a small period t1, and the No. 6 LED lamp is on in a small period t 2;
wherein, 1 represents lamp on, 0 represents lamp off, and X represents 1 or 0.
, the specific calculation formula of the horizontal included angle phi and the vertical included angle theta between the quaternary photoelectric detector and each LED lamps in the or the second LED lamp group in step 6 is:
wherein, Kx, Ky, mx, my are four-element photoelectric detector calibration values and are constants, U1、U2、U3、U4Four pixel voltage signal values for a four-element photodetector.
, the specific calculation formula of the offset orientations Dirx and Diry between the quaternary photodetector and each LED lamps in the or second LED lamp group in step 6 is:
wherein, Dirx ═ 1 represents that the LED lamp is on the right side of the center point of the quaternary photodetector; diry ═ 1 denotes that the LED lamp is on the lower side of the center point of the quaternary photodetector.
, the step 7 is realized by the following steps:
step 7.1, calculating included angles ∠ AOB, ∠ BOC and ∠ COA between every two LED lamps in the th LED lamp group or the second LED lamp group and the quaternary photoelectric detector;
a, B, C respectively represents the central positions of three LED lamps in the LED lamp group or the second LED lamp group, and O represents the central position of the quaternary photoelectric detector;
φA、φB、φCcomplementary angles of horizontal included angles between the quaternary photoelectric detector and each LED lamp in the th LED lamp group or the second LED lamp group are respectively;
θA、θB、θCcomplementary angles of vertical included angles between the quaternary photoelectric detector and each LED lamp in the th LED lamp group or the second LED lamp group are respectively formed;
step 7.2, judging ∠ AOB, ∠ BOC and ∠ COA angle size relationship, and calculating OA, OB and OC values;
making the maximum value of angles of ∠ AOB, ∠ BOC and ∠ COA be α, the middle value of the angles be β and the minimum value of the angles be gamma, wherein α, β and gamma are all smaller than 60 degrees;
Wherein r is the side length of an equilateral triangle formed by the th LED lamp group or the second LED lamp group;
case 2: α ≠ β ≠ γ or α ≠ β ≠ γ or α ≠ β or α ≠ γ ≠ β,
setting the length of the public side between α and β as mid, the minimum value of mid as low and the maximum value as upp;
and th order, low-r,
if r3-r1If | and ε are distance accuracy, then mid, r are output1，r2Skipping to step 7.3;
if r3＞r1+ ε, let upp be mi of last timesd, and recalculating mid value and substituting the value into equations (1) - (3) to continue the calculation until condition | r is satisfied3-r1If | < ε, output mid, r1，r2Skipping to step 7.3;
if r3＜r1ε, let low be the mid value of times before, recalculate mid value, substitute this value into equations (1) - (3), and continue calculation until the condition | r is satisfied3-r1If | < ε, output mid, r1，r2Skipping to step 7.3;
7.3, calculating the distance OD between the center position of the quaternary photoelectric detector and the center point D of an equilateral triangle formed by the th LED lamp group or the second LED lamp group or the center point H of an equilateral triangle formed by the second LED lamp group;
step 7.4, calculating an included angle phi between the center O of the quaternary photoelectric detector and the center D of the th LED lamp group or the center H of the second LED lamp group in the horizontal directiondAngle theta in the vertical directiond；
According to the correspondence relationship among ∠ AOB, ∠ BOC, ∠ COA and α, β and gamma in step 7.2, mid is between α and β, and r is between β and gamma2R between γ and α1Mixing OA, OB, OC with mid, r1、r2 correspond to each other;
the Dir1X, Dir2X and Dir3X are respectively the four-element photoelectric detector and the X-axis horizontal direction of three LED lamps in the th LED lamp group or the second LED lamp group, and the Dir1y, Dir2y and Dir3y are respectively the four-element photoelectric detector and the th LED lamp group or the Z-axis vertical direction of three LED lamps in the second LED lamp group.
The invention has the advantages that:
1. according to the method, the distance and the azimuth relation between the UUV and the recycling station in the UUV recycling process are accurately measured by using the quaternary photoelectric detector and the LED light source, the system structure is simple, the measuring method is simple and practical, the recycling success rate of the UUV is greatly improved, and the defects of a traditional distance measuring method taking sound waves as carriers are overcome.
2. According to the invention, through formulating the flicker rule (namely the coding rule) for the th LED lamp group and the second LED lamp group on the recycle bin and simultaneously formulating the corresponding decoding rule, the real-time change condition of the UUV in the underwater posture is realized, and the position of each LED lamps in the th LED lamp group and the second LED lamp group relative to the quaternary photoelectric detector can be accurately obtained, so that the orientation of the UUV relative to the recycle bin can be accurately obtained, and the UUV recycling work is more efficient and reliable.
3. According to the invention, the two LED lamp groups are arranged in front of and behind the recycle bin, and the field range of the photoelectric detector is enlarged by the switching function of the two LED lamp groups.
4. The positioning system adopted by the invention can be applied to autonomous recovery work of UUV vehicles and can also be applied to other underwater equipment with higher requirement on ranging precision.
Drawings
FIG. 1 is a schematic structural diagram of UUV recovery by using the positioning system of the present invention;
fig. 2 is a schematic diagram of an encoding rule.
Fig. 3 is a schematic diagram of an included angle between the quaternary photodetector and any LED lamps in the th LED lamp group or the th LED lamp group in the horizontal and vertical directions.
FIG. 4 is a graph of the angle versus the side length.
Detailed Description
In order to make the technical solution of the present invention more clear and accurately understood by those skilled in the art, the present invention is further illustrated in with reference to the accompanying drawings and specific embodiments.
The preferred embodiments of the present invention are discussed below in conjunction with the following figures:
referring to fig. 1, positioning systems for UUV recovery process include a quaternary photoelectric detector, six LED lamps, an LED lamp controller and an upper computer;
the four-element photoelectric detector is arranged at the front end of the UUV, wherein the No. 1 LED lamp, the No. 2 LED lamp and the No. 3 LED lamp are LED lamp groups, the No. LED lamp group is arranged at the front end of the recovery station, the three LED lamps form an equilateral triangle, and the side length is
the host computer with quaternary photoelectric detector is connected, LED banks, second LED banks are connected with the LED lamp controller respectively.
The basic working principle of the positioning system is as follows:
the LED lamp controller controls th LED lamp group and the second LED lamp group to flicker and emit light, the quaternary photoelectric detector receives light signals of the th LED lamp group and the second LED lamp group, light information sent by each LED lamps of the th LED lamp group and the second LED lamp group is identified, calculation is carried out according to the principle of the quaternary photoelectric detector and position information between each LED lamps of the th LED lamp group and the second LED lamp group, and finally the distance and the azimuth relation between the UUV and the recycling bin are obtained in real time.
Based on the description of the system structure and the working principle, the positioning method in the UUV recovery process by adopting the positioning system is described in detail:
setting time T as large periods, and dividing the time T into 9 small periods T1-T9;
wherein: during a small period t1, the No. 1 LED lamp is on;
during a small period t2, all the LED lamps are completely turned off;
during a small period t3, the No. 2 LED lamp is on;
during a small period t4, the No. 3 LED lamp is on;
during a small period t5, all the LED lamps are completely turned off;
during a small period t6, the No. 4 LED lamp is on;
during a small period t7, the No. 5 LED lamp is on;
during a small period t8, the No. 6 LED lamp is on;
during a small period t9, all the LED lamps are completely turned off;
the No. 1 LED lamp, the No. 2 LED lamp and the No. 3 LED lamp form an LED lamp group, and the No. 4 LED lamp, the No. 5 LED lamp and the No. 6 LED lamp form a second LED lamp group.
Step 2, formulating decoding rules of the LED lamp group and the second LED lamp group, and uploading the two decoding rules to an upper computer, wherein the decoding rules are rules for the upper computer to analyze the acquired digital signals;
the decoding rule for the th LED light group has the following six cases:
case 1: the digital signal is 10110XXXX, which indicates that the No. 1 LED lamp is on in a small period t1, the No. 2 LED lamp is on in a small period t3, and the No. 3 LED lamp is on in a small period t 4;
case 2: the digital signal is 1010110XX, which indicates that the No. 1 LED lamp is on in a small period t3, the No. 2 LED lamp is on in a small period t5, and the No. 3 LED lamp is on in a small period t 6;
case 3: the digital signal is 1X01011XX, which indicates that the No. 1 LED lamp is on in a small period t4, the No. 2 LED lamp is on in a small period t6, and the No. 3 LED lamp is on in a small period t 7;
case 4: the digital signal is 1XX010110, which indicates that the No. 1 LED lamp is on in a small period t5, the No. 2 LED lamp is on in a small period t7, and the No. 3 LED lamp is on in a small period t 8;
case 5: the digital signal is 10XXX0101, which indicates that the No. 1 LED lamp is on in a small period t7, the No. 2 LED lamp is on in a small period t9, and the No. 3 LED lamp is on in a
case 6: the digital signal is 110XXX010, which indicates that the No. 1 LED lamp is on in a small period t8, the No. 2 LED lamp is on in a small period t1, and the No. 3 LED lamp is on in a small period t 2;
the following six cases are decoded for the second LED light group:
case 1: the digital signal is 1110X0XX0, which indicates that the No. 4 LED lamp is on in a small period t1, the No. 5 LED lamp is on in a small period t2, and the No. 6 LED lamp is on in a small period t 3;
case 2: the digital signal is 101110XXX, which indicates that the No. 4 LED lamp is on in a small period t3, the No. 5 LED lamp is on in a small period t4, and the No. 6 LED lamp is on in a small period t 5;
case 3: the digital signal is 1X01110X0, which indicates that the No. 4 LED lamp is on in a small period t4, the No. 5 LED lamp is on in a small period t5, and the No. 6 LED lamp is on in a small period t 6;
case 4: the digital signal is 10XX01110, which indicates that the No. 4 LED lamp is on in a small period t6, the No. 5 LED lamp is on in a small period t7, and the No. 6 LED lamp is on in a small period t 8;
case 5: the digital signal is 10X0XX011, namely that the No. 4 LED lamp is on in a small period t8, the No. 5 LED lamp is on in a small period t9, and the No. 6 LED lamp is on in a
case 6: the digital signal is 110X0XX01, which indicates that the No. 4 LED lamp is on in a small period t9, the No. 5 LED lamp is on in a small period t1, and the No. 6 LED lamp is on in a small period t 2;
wherein, 1 represents lamp on, 0 represents lamp off, and X represents 1 or 0.
The specific decoding rules are shown in tables 1 and 2
Table 1( the decoding table of LED lamp group)
Table 2 (second LED lamp decoding table)
And step 3: the LED lamp controller controls six LED lamps to flicker and emit light circularly according to the coding rule, and an optical signal of each LED lamp is transmitted to the quaternary photoelectric detector through water;
step 4, when the quaternary photoelectric detector is in the field of view of the th LED lamp group, executing the step 5-7 by using the optical signal of the th LED lamp group, and after navigating sections of distance in the direction of the recycle bin, when the quaternary photoelectric detector is out of the field of view of the th LED lamp group, executing the step 5-7 by using the optical signal of the second LED lamp group;
the following description is given here by way of example of a UUV located further from the recovery station and a quad photodetector within the field of view of the th LED light group:
step 5, receiving light signals of every LED lamps in the th LED lamp group and the second LED lamp group by a quaternary photoelectric detector, converting the light signals into voltage signals, converting the voltage signals into digital signals by an upper computer, and contrasting and identifying the light emitting information of three LED lamps in the th LED lamp group according to the digital signals and the th LED lamp group decoding rule;
and 6, calculating horizontal and vertical included angles and offset orientations between the quaternary photoelectric detector and each LED lamps in the th LED lamp group according to the voltage signals of four pixels in the quaternary photoelectric detector, wherein as shown in FIG. 3, an XZ plane is a detector surface, a Y-axis direction is a detector axial direction, and an LED' is the projection of the LED on the XY plane.
The specific calculation formula of the included angle between the quaternary photoelectric detector and any LED lamps in the th LED lamp group in the horizontal direction and the vertical direction is as follows:
kx, Ky, mx and my are four-element photoelectric detector calibration values and are constants, and U is1、U2、U3、U4Four pixel voltage signal values for a four-element photodetector.
The specific calculation formula of the offset orientations Dirx and Diry between the quaternary photodetector and any LED lamps in the th LED lamp group is as follows:
wherein, Dirx ═ 1 represents that the LED lamp is on the right side of the center point of the quaternary photodetector;
And 7, calculating the distance and the orientation relation between the centers of equilateral triangles formed by the quaternary photoelectric detector and the th LED lamp group, namely obtaining the distance and the orientation relation between the UUV and the recycling bin.
Step 7.1, calculating included angles ∠ AOB, ∠ BOC and ∠ COA between every two LED lamps in the th LED lamp group and the quaternary photoelectric detector;
a, B, C respectively represents the central positions of three LED lamps in the LED lamp group, and O represents the central position of the quaternary photoelectric detector;
φA、φB、φCcomplementary angles of horizontal included angles between the quaternary photoelectric detector and each LED lamp in the th LED lamp group are respectively formed;
θA、θB、θCcomplementary angles of vertical included angles between the quaternary photoelectric detector and each LED lamp in the th LED lamp group are respectively formed;
step 7.2, judging ∠ AOB, ∠ BOC and ∠ COA angle size relationship, and calculating OA, OB and OC values;
making the maximum value of angles of ∠ AOB, ∠ BOC and ∠ COA be α, the middle value of the angles be β and the minimum value of the angles be gamma, wherein α, β and gamma are all smaller than 60 degrees;
Wherein d1 is the side length of an equilateral triangle formed by the LED lamp group or the second LED lamp group;
case 2: α ≠ β ≠ γ or α ≠ β ≠ γ or α ≠ β or α ≠ γ ≠ β,
then set the length of the common edge between α and β to be mid, the mid minimum value to be low and the maximum value to be upp as shown in FIG. 4;
and th order, low-
if r3-r1If | and ε are distance accuracy, then mid, r are output1，r2Skipping to step 7.3;
if r3＞r1+ ε, let upp be the mid value of times above, and recalculate the mid value and substitute this value into equations (1) - (3) to continue the calculation until condition | r is satisfied3-r1If | < ε, output mid, r1，r2Skipping to step 7.3;
if r3＜r1ε, let low be the mid value of times before, recalculate mid value, substitute this value into equations (1) - (3), and continue calculation until the condition | r is satisfied3-r1If | < ε, output mid, r1，r2Skipping to step 7.3;
7.3, calculating the distance OD between the center position of the quaternary photoelectric detector and the center point D of an equilateral triangle formed by the th LED lamp group;
step 7.4, calculating an included angle phi between the center O of the quaternary photoelectric detector and the center D of the th LED lamp group or the center H of the second LED lamp group in the horizontal directiondAngle theta in the vertical directiond；
As shown in FIG. 4, according to the correspondence relationship among ∠ AOB, ∠ BOC, ∠ COA and α, β, γ in step 7.2, mid is between α and β, and r is between β and γ2R between γ and α1Mixing OA, OB, OC with mid, r1、r2 correspond to each other;
the Dir1X, Dir2X and Dir3X are respectively the four-element photoelectric detector and the X-axis horizontal direction of three LED lamps in the th LED lamp group or the second LED lamp group, and the Dir1y, Dir2y and Dir3y are respectively the four-element photoelectric detector and the th LED lamp group or the Z-axis vertical direction of three LED lamps in the second LED lamp group.
And when the UUV is in a close distance with the recycling bin and the quaternary light detector is out of the th LED lamp group view field range, switching to a second LED lamp group, and performing the steps 6 and 7 by using the light information of the second LED lamp group and the decoding rule of the second LED lamp group to calculate the distance between the UUV and the recycling bin and the azimuth information.
- 上一篇：一种医用注射器针头装配设备
- 下一篇：一种爬架状态信息的监测方法、装置及系统