顾及水声误差的UUVs协同定位构型设计及分析

doi:10.11947/j.AGCS.2023.20210597

测绘学报 ›› 2023, Vol. 52 ›› Issue (8): 1268-1277.doi: 10.11947/j.AGCS.2023.20210597

顾及水声误差的UUVs协同定位构型设计及分析

杜祯强^1,2, 柴洪洲¹, 向民志^1,2, 章繁¹, 惠俊^1,2

1. 信息工程大学地理空间信息学院, 河南郑州 450001;
2. 自然资源部海洋测绘重点实验室, 山东青岛 266590

收稿日期:2021-10-26 修回日期:2022-09-15 发布日期:2023-09-07
通讯作者: 柴洪洲 E-mail:chaihz1969@163.com
作者简介:杜祯强(1996-),男,博士,研究方向为水下UUVs集群协同定位。E-mail:zhenqiangdu_geodesy@outlook.com
基金资助:
国家自然科学基金(42074014; 41904039; 41604013); 自然资源部海洋测绘重点实验室开放基金(2021B15)

Configuration design and analysis of UUVs cooperative localization with underwater acoustic error

DU Zhenqiang^1,2, CHAI Hongzhou¹, XIANG Minzhi^1,2, ZHANG Fan¹, HUI Jun^1,2

1. Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450001, China;
2. Key Laboratory of Ocean Geomatics, Ministry of Natural Resources, Qingdao 266590, China

Received:2021-10-26 Revised:2022-09-15 Published:2023-09-07
Supported by:
The National Natural Science Foundation of China (Nos.42074014; 41904039; 41604013); The Key Laboratory of Ocean Geomatics, Ministry of Natural Resources (No. 2021B15)

摘要/Abstract

摘要： 由于水介质的特殊性及水下的弱通信条件,水下无人航行器编队构型的优劣直接影响着协同定位的精度。针对传统UUVs构型设计方法未考虑水声声线弯曲和声速变化误差,且忽略了UUV之间距离变化引起的入射角差异的问题,本文提出了顾及水声误差的UUVs协同定位模型,通过引入平面位置精度衰减因子的概念分析UUVs最优编队构型。选取了位于日本南海海槽的实测数据作为水下真实声速场,分析了5种UUVs编队构型在不同深度下的协同定位精度,指出了UUVs水平距离和水深的比值与协同定位结果的关系。试验结果表明,传统方法在UUVs分离角为90°时达到最优构型,考虑到水声测距误差后,UUVs分离角在25°~30°达到最优。UUVs水平距离与水深的比值越大时,协同定位精度越高。考虑到波束入射角的限制,推荐在1.5~2.0倍比值,即55°~63°的波束入射角为最优构型。较之传统构型设计方法,顾及水声误差的编队构型使得UUVs协同定位精度平均提升24.3%。

关键词: UUV, 协同定位, 声学测距误差, HDOP值, 构型设计

Abstract: Due to the particularity of water medium and weak underwater communication conditions, the configuration of underwater unmanned vehicles (UUVs) directly affects the accuracy of UUVs cooperative localization. In the former work, the bending of underwater acoustic ray and sound velocity variation are not considered, and the change of incident angle caused by the distance variation between UUVs is ignored. The model of UUVs cooperative localization with underwater acoustic errors is proposed, and the optimal configuration of UUVs is analyzed by introducing the concept of horizontal dilution precision (HDOP). Selecting the sound velocity profile in Nankai trough, Japan as the underwater velocity field. The cooperative localization accuracy of five UUVs configurations at different depths are analyzed,and the relationship between UUVs cooperative localization results and the ratio of horizontal distance of UUVs and water depths researched. The experimental results show that the optimal UUVs separation angle is 90° in traditional method. When the underwater acoustic ranging error is considered, the separation angle of UUVs is optimal at 25°~30°. The higher the ratio of horizontal distance of UUVs and water depth, the higher the accuracy of UUVs cooperative localization. Considering the limitation of incident angle, it is recommended that the ratio is 1.5~2.0, i.e, the incident angle is 55°~63°, as the optimal configuration of UUVs cooperative localization. Compared with the traditional configuration design method, the configuration with underwater acoustic error improves the accuracy of UUVs cooperative localization by 24.3% on average.

Key words: UUV, cooperative localization, acoustic ranging error, HDOP, configuration design

中图分类号:

P228

杜祯强, 柴洪洲, 向民志, 章繁, 惠俊. 顾及水声误差的UUVs协同定位构型设计及分析[J]. 测绘学报, 2023, 52(8): 1268-1277.

DU Zhenqiang, CHAI Hongzhou, XIANG Minzhi, ZHANG Fan, HUI Jun. Configuration design and analysis of UUVs cooperative localization with underwater acoustic error[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(8): 1268-1277.

参考文献

[1] 杨元喜, 徐天河, 薛树强. 我国海洋大地测量基准与海洋导航技术研究进展与展望[J]. 测绘学报, 2017, 46(1): 1-8. DOI:10.11947/j.AGCS.2017.20160519. YANG Yuanxi, XU Tianhe, XUE Shuqiang. Progresses and prospects in developing marine geodetic datum and marine navigation of China[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(1): 1-8. DOI:10.11947/j.AGCS.2017.20160519.
[2] YANG Yuanxi, XU Tianhe, XUE Shuqiang. Progresses and prospects of marine geodetic datum and marine navigation in China[J]. Journal of Geodesy and Geoinformation Science, 2018(1): 16-24.
[3] 赵建虎, 欧阳永忠, 王爱学. 海底地形测量技术现状及发展趋势[J]. 测绘学报, 2017, 46(10): 1786-1794. DOI:10.11947/j.AGCS.2017.20170276. ZHAO Jianhu, OUYANG Yongzhong, WANG Aixue. Status and development tendency for seafloor terrain measurement technology[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(10): 1786-1794. DOI:10.11947/j.AGCS.2017.20170276.
[4] WILLCOX S, GOLDBERG D, VAGANAY J, et al. Multi-vehicle cooperative navigation and autonomy with the bluefin CADRE system[C]//Proceedings of 2006 International Federation of Automatic Control Conference. Cambridge: Elsevier, 2006.
[5] KALWA J. The European R&D-Project GREX: coordination and control of cooperating heterogeneous unmanned systems in uncertain environments[J]. IFAC Proceedings Volumes, 2009, 42(18): 364-369.
[6] ABREU P, ANTONELLI G, ARRICHIELLO F, et al. Widely scalable mobile underwater sonar technology: an overview of the H2020 WiMUST project[J]. Marine Technology Society Journal, 2016, 50(4): 42-53.
[7] PAULL L, HUANG Guoquan, SETO M, et al. Communication-constrained multi-AUV cooperative SLAM[C]//Proceedings of 2015 IEEE International Conference on Robotics and Automation. Seattle: IEEE, 2015: 509-516.
[8] 张伟, 王乃新, 魏世琳,等. 水下无人潜航器集群发展现状及关键技术综述[J]. 哈尔滨工程大学学报, 2020, 41: 289-297. ZHANG Wei, WANG Naixin, WEI Shilin, et al. Overview of unmanned underwater vehicle swarm development status and key technologies[J]. Journal of Harbin Engineering University, 2020, 41: 289-297.
[9] TECK TAN Y, GAO Rui, CHITRE M. Cooperative path planning for range-only localization using a single moving beacon[J]. IEEE Journal of Oceanic Engineering, 2014, 39(2): 371-385.
[10] HUANG Yulong, ZHANG Yonggang, XU Bo, et al. A new adaptive extended Kalman filter for cooperative localization[J]. IEEE Transactions on Aerospace and Electronic Systems, 2018, 54(1): 353-368.
[11] CRUZ J. Leader-follower strategies for multilevel systems[J]. IEEE Transactions on Automatic Control, 1978, 23(2): 244-255.
[12] WANG P K C. Navigation strategies for multiple autonomous mobile robots moving in formation[C]//Proceedings of 1989 IEEE/RSJ International Workshop on Intelligent Robots and Systems. Tsukuba: IEEE, 1989: 486-493.
[13] 房新鹏, 严卫生, 张福斌, 等. 基于多USV/AUV的水下定位系统队形结构研究[J]. 系统工程与电子技术, 2014, 36(5): 947-951. FANG Xinpeng, YAN Weisheng, ZHANG Fubin, et al. Formation geometry of underwater positioning based on multiple USV/AUV[J]. Systems Engineering and Electronics, 2014, 36(5): 947-951.
[14] MORENO-SALINAS D, PASCOAL A, ARANDA J. Sensor networks for optimal target localization with bearings-only measurements in constrained three-dimensional scenarios[J]. Sensors (Basel, Switzerland), 2013, 13(8): 10386-10417.
[15] BO Xu, RAZZAQI A A, WANG Xiaoyu. Optimal sensor formation for 3D cooperative localization of AUVs using time difference of arrival (TDOA) method[J]. Sensors (Basel, Switzerland), 2018, 18(12): 4442.
[16] YUAN Weijie, WU Nan, GUO Qinghua, et al. TOA-based passive localization constructed over factor graphs: a unified framework[J]. IEEE Transactions on Communications, 2019, 67(10): 6952-6965.
[17] XU Bo. Optimal geometric configuration of sensors for received signal strength based cooperative localization of submerged AUVs[J]. Ocean Engineering, 2020, 214: 107785.
[18] 张立川, 屈俊琪, 潘光, 等. 基于几何解释的集群AUV协同定位误差及编队构型分析[J]. 西北工业大学学报, 2020, 38(4): 755-765. ZHANG Lichuan, QU Junqi, PAN Guang, et al. Analyzing of cooperative locating error and formation configuration of AUV based on geometric interpretation[J]. Journal of Northwestern Polytechnical University, 2020, 38(4): 755-765.
[19] 张立川, 王永召, 屈俊琪. 基于等价Fisher信息矩阵的AUV集群网络导航精度分析[J]. 水下无人系统学报, 2019, 27(3): 254-259, 276. ZHANG Lichuan, WANG Yongzhao, QU Junqi. Network navigation accuracy analysis of AUV swarm based on equivalent fisher information matrix[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 254-259, 276.
[20] 孙文舟, 殷晓冬, 曾安敏, 等. 附加深度差和水平距离约束的深海控制点差分定位算法[J]. 测绘学报, 2019, 48(9): 1190-1196. SUN Wenzhou, YIN Xiaodong, ZENG Anmin, et al. Differential positioning algorithm for deep-sea control points on constraint of depth difference and horizontal distance constraint[J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(9): 1190-1196.
[21] 孙文舟, 殷晓冬, 暴景阳, 等. 海底控制点定位的半参数平差模型法[J]. 测绘学报, 2019, 48(1): 117-123. SUN Wenzhou, YIN Xiaodong, BAO Jingyang, et al. Semi-parametric adjustment model methods for positioning of seafloor control point[J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(1): 117-123.
[22] 赵爽, 王振杰, 刘慧敏. 顾及声线入射角的水下定位随机模型[J]. 测绘学报, 2018, 47(9): 1280-1289. DOI:10.11947/j.AGCS.2018.20170026. ZHAO Shuang, WANG Zhenjie, LIU Huimin. Investigation on underwater positioning stochastic model based on sound ray incidence angle[J]. Acta Geodaetica et Cartographica Sinica, 2018, 47(9): 1280-1289. DOI:10.11947/j.AGCS.2018.20170026.
[23] 曾安敏, 杨元喜, 明锋, 等. 海底大地基准点圆走航模式定位模型及分析[J]. 测绘学报, 2021, 50(7): 939-952. DOI:10.11947/j.AGCS.2021.20200529. ZENG Anmin, YANG Yuanxi, MING Feng, et al. Positioning model and analysis of the sailing circle mode of seafloor geodetic datum points[J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(7): 939-952. DOI:10.11947/j.AGCS.2021.20200529.
[24] 高伟, 刘亚龙, 徐博, 等. 基于双主交替领航的多AUV协同导航方法[J]. 哈尔滨工程大学学报, 2014, 35(6): 735-740. GAO Wei, LIU Yalong, XU Bo, et al. Multiple-AUV cooperative navigation based on two-leader alternated navigation[J]. Journal of Harbin Engineering University, 2014, 35(6): 735-740.
[25] 李征航, 黄劲松. GPS测量与数据处理[M]. 3版. 武汉: 武汉大学出版社, 2016: 188-190. LI Zhenghang, HUANG Jinsong. GPS surveying and data processing[M]. 3rd ed. Wuhan: Wuhan University Press, 2016: 188-190.
[26] XU Peiliang, ANDO M, TADOKORO K. Precise, three-dimensional seafloor geodetic deformation measurements using difference techniques[J].Earth, Planets and Space, 2005, 57(9): 795-808.
[27] BO X, RAZZAQI A A, FARID G. A review on optimal placement of sensors for cooperative localization of AUVs[J]. Journal of Sensors, 2019:12.DOI:10.1155/2019/4276987.

顾及水声误差的UUVs协同定位构型设计及分析

Configuration design and analysis of UUVs cooperative localization with underwater acoustic error

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 4

编辑推荐

Metrics

本文评价

[1]	李博峰, 陈广鄂. GNSS/INS组合车辆协同精密定位方法[J]. 测绘学报, 2022, 51(8): 1708-1716.
[2]	杜祯强, 柴洪洲, 向民志, 章繁, 黄紫如, 朱华巍. UUVs集群协同定位的分散式增广信息滤波方法[J]. 测绘学报, 2022, 51(2): 182-191.
[3]	曾安敏, 杨元喜, 明锋, 马越原. 海底大地基准点圆走航模式定位模型及分析[J]. 测绘学报, 2021, 50(7): 939-952.
[4]	孙文舟, 殷晓冬, 曾安敏, 暴景阳. 附加深度差和水平距离约束的深海控制点差分定位算法[J]. 测绘学报, 2019, 48(9): 1190-1196.