Dynamic Path Generation Method for UUV Terrain Tracking Using Forward-Looking Sonar and Altimetry Sonar
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摘要: 保持对海底地形的定高跟踪航行是无人水下航行器(UUV)执行海洋勘测和水下目标搜索任务时常采用的一种运动形式, 其核心是UUV如何对未知起伏的海底地形进行实时探测, 并基于探测信息在线、动态地生成跟踪路径, 以实现对地形的定高跟踪航行, 同时避免与地形发生碰撞。针对上述问题, 提出了一种基于前视声呐探测地形信息、基于多项式拟合动态生成跟踪路径的方法。首先, UUV利用前视声呐对海底地形进行实时探测, 对获得的地形探测数据进行仿射处理后, 得到具有离散特性的定高仿射数据。然后, 采用基于最小二乘准则的三次多项式方法对仿射数据进行拟合, 生成基于多项式函数描述的UUV地形跟踪航行路径。最后, 设计了一种包含声呐探测、数据仿射、路径生成和跟踪控制的动态执行框架, 实现UUV的实时地形跟踪航行任务。文中所提出的跟踪路径生成和动态执行框架通过对典型的海底“上坡”地形和“山地”地形跟踪的仿真验证, 证明了其有效性和可行性。Abstract: Maintaining fixed altitude tracking navigation of seafloor terrain is a common form of motion, which is used by unmanned undersea vehicles(UUVs) on marine survey and underwater target search missions. The core of this motion is how UUVs can detect unknown undulating seafloor terrain in real time and generate tracking paths online and dynamically based on detection information, so as to achieve fixed altitude tracking navigation on the terrain while avoiding collision with the terrain. To solve the above problems, a method for detecting terrain information based on forward-looking sonar and dynamically generating tracking paths based on polynomial fitting was proposed. First, UUVs used forward-looking sonar to conduct real-time detection of seafloor terrain. After affine processing of the obtained terrain detection data, fixed altitude affine data with discrete characteristics could be obtained. Then, the cubic polynomial method based on the least squares criterion was used to fit the affine data, and the navigation path of UUVs for terrain tracking based on the polynomial function description was generated. Finally, a dynamic execution framework including sonar detection, data affine, path generation, and tracking control was designed, so as to realize the real-time terrain tracking navigation mission of UUVs. In this paper, through simulation of tracking on typical seafloor uphill and mountainous terrain, the effectiveness and feasibility of the proposed tracking path generation and dynamic execution framework were demonstrated.
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图 1 UUV海底地形跟踪动态路径生成示意图
Figure 1. Diagram of dynamic path generation for UUV seafloor terrain tracking
图 2 UUV测高声呐和前视声呐安装示意图
Figure 2. Installation diagram of UUV altimetry sonar and forward-looking sonar
图 3 声呐探测-路径生成-跟踪控制动态执行框架
Figure 3. Dynamic execution framework based on sonar detection, path generation and tracking control
图 5 跟踪航行过程中纵倾指令及响应
Figure 5. Tracking longitudinal commands and responses during navigation
图 6 “上坡”地形跟踪中探测点、仿射点及生成路径
Figure 6. Detection points, affine points and generated path in uphill terrain tracking
图 7 “山地”地形路径生成及跟踪结果
Figure 7. Path generation and tracking results in mountainous terrain
图 8 跟踪航行过程中纵倾指令及响应
Figure 8. Tracking longitudinal commands and responses during navigation
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