水下AUV集群协同定位技术研究

Recent years, AUV collaborative technology has gradually entered various scientific and technological fields with great advantages of function expansion, performance improvement, and flexible usage. However, the collaborative localization technology of underwater dynamic AUVs is affected by the time-varying and spatial varying caused by ocean, the limited bandwidth of the underwater acoustic channel, and the mobility of the platform. It has always been a difficult and hot topic for scholars in and abroad. The goal of this project is to perform underwater dynamic AUV joint mapping or search in the context of an unknown terrain environment. In order to meet the dynamic AUVs’ association requirements for location information, this project significantly considers the constraints faced by underwater acoustic network localization. A high precision, fast and low data overhead collaborative localization scheme is designed. Through the analysis of the AUVs’ operation mode, the project develops the micro-array azimuth searching technology applicable to the small-node platform and integrates the ocean environment parameters. Design an integrated localization and localization protocol for “localization, navigation and communication”. Research on asynchronous fusion location technology of multi-source information. And performance evaluation and test verification. Through the research of this project, the flexibility of cluster underwater operations will be effectively improved, the co-location speed of clusters will be improved, and communication overhead and energy consumption will be reduced. Accelerate the implementation of coordinated observation and operation technology of underwater dynamic clusters. It also provides technical support for underwater sensing networks based on underwater acoustic links.

近年来，集群协同作业技术凭借功能扩展、性能提升、使用灵活等方面的极大优势，逐步进入各科技领域。而水下动态集群的协同定位技术受海洋环境的时变性空变性、水声信道带宽有限和平台机动性等影响，一直以来是国内外学者研究的难点和热点。本项目以未知地形环境背景下的水下动态集群联合测绘或搜探为具体应用目标，综合考虑水声网络定位面临的制约因素，设计一套高精度、快速、低数据开销的协同定位方案，以满足动态集群对位置信息的关联需求。本项目通过对AUV集群作业模式的分析，开展适用于小节点平台的融合海洋环境参数微阵列测向定位技术、“定、导、通”一体化协同定位协议设计和多源信息的异步融合定位技术研究，并进行性能评估与试验验证。通过本项目的研究，将有效提高集群水下作业的灵活性、提升集群的协同定位速度并减小通信开销及能耗，加快水下动态集群协同观测与作业技术的推进实施，也对基于水声链路的水下传感网络提供了技术支撑。

近年来，集群协同作业技术凭借功能扩展、性能提升、使用灵活等方面的极大优势，逐步进入各科技领域。而水下动态集群的协同定位技术受海洋环境的时变性空变性、水声信道带宽有限和平台机动性等影响，一直以来是国内外学者研究的难点和热点。本项目以未知地形环境背景下的水下动态集群联合测绘或搜探为具体应用目标，综合考虑水声网络定位面临的制约因素，设计一套高精度、快速、低数据开销的协同定位方案，以满足动态集群对位置信息的关联需求。本项目以水下动态集群的协同定位技术为出发点，针对约束水下集群定位精确、快速、能耗能问题，主要研究适用于小节点平台的融合海洋环境参数微阵列测向定位技术、“定、导、通”一体化协同定位协议设计技术、声学移动协同定位技术。并在湖试条件下完成“1主平台+3从平台”AUV编队航行试验；为大规模AUV集群协同定位提供应用基础，具备进一步军用及民用前景。