一种面向受限水域应用的水声-WIFI双链路协同控制AUV

张檬; 魏博文; 金均昊; 童峰; 张福民

doi:10.11993/j.issn.2096-3920.2024-0117

一种面向受限水域应用的水声-WIFI双链路协同控制AUV

doi: 10.11993/j.issn.2096-3920.2024-0117

张檬^{1, 2,},
魏博文^{1, 3,},
金均昊^{1, 2,},
童峰^{1, 2,},
张福民^{4, 5,}

1.
厦门大学海洋与地球学院, 福建厦门, 361102
2.
厦门大学导航与位置服务技术国家地方联合工程研究中心, 福建厦门, 361105
3.
厦门大学航空航天学院, 福建厦门, 361102
4.
香港科技大学电子与计算机工程系, 香港, 999077
5.
香港科技大学郑家纯机器人研究所, 香港, 999077

基金项目: 国家重点研发计划项目资助(2018YFE0110000); 上海市科委“科技创新行动计划”项目资助(21DZ1205502); 厦门市海洋产业项目资助(22CZB012HJ13).

详细信息

作者简介:
张檬：张　檬(2000-), 女, 在读硕士, 主要研究方向为AUV移动水声通信

通讯作者:
童　峰(1973-), 男, 教授, 主要研究方向为水声通信与网络、声探测与感知及智能语音处理等.

中图分类号: TJ630.34; U674
计量
- 文章访问数: 54
- HTML全文浏览量: 21
- PDF下载量: 18
- 被引次数: 0
出版历程
- 收稿日期: 2024-06-25
- 修回日期: 2024-09-04
- 录用日期: 2024-09-09
- 网络出版日期: 2025-01-14

AUV with Underwater Acoustic-WIFI Link Cooperative Control for Confined Waters

ZHANG Meng^{1, 2
,},
WEI Bowen^{1, 3
,},
JIN Junhao^{1, 2
,},
TONG Feng^{1, 2
,},
ZHANG Fumin^{4, 5
,}

1.
Colleage of Ocean and Earth Sciences, Xiamen University, Xiamen 361102, China
2.
National and Local Joint Engineering Research Center for Navigation and Location Service Technology, Xiamen University, Xiamen 361105, China
3.
School of Aerospace Engineering, Xiamen University, Xiamen 361102, China
4.
Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong 999077, China
5.
Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong 999077, China

摘要

摘要: 自主水下航行器(AUV)水下控制链路一般采用水声通信链路。对于浅海岸滩、水库、湖泊、管渠及洞穴等水域地形复杂的受限水域, 复杂多径会对高速率水声通信性能造成严重影响, 而有限水域深度为无线链路的应用提供了可能性。面向此类应用, 文中设计了一种采用水声和WIFI双链路协同控制的小型AUV: SubseaBuddy-3, 其水声链路采用低速率扩频水声通信方式以保证强多径条件下的通信可靠性, 而高速率WIFI链路则可在浅水区工作, 或应用于布放前的功能调试测试, 以及回收阶段的控制和观测。通过水声链路、WIFI链路在不同工作深度、不同信息获取/回传状态进行协同, 可满足受限水域条件下可靠指控、水下图像实时/准实时回传的需求。同时, AUV配备惯性测量单元和深度传感器, 可进行姿态和深度控制。水池实验证实了双链路AUV的工作有效性。
- 自主水下航行器 /
- 水声通信 /
- WIFI双链路 /
- 协同控制 /
- 受限水域
Abstract: Autonomous undersea vehicle(AUV) generally adopts acoustic communication links for underwater control. However, in complex and confined waters such as coastal shoals, reservoirs, lakes, canals, and caves, complex multiple paths can seriously impact the performance of high-speed underwater acoustic communication, while the limited water depth of these environments makes wireless links a viable option. Therefore, a micro-sized AUV, SubseaBuddy-3, was developed that integrated both underwater acoustic and WIFI links for cooperative control. The underwater acoustic link adopted the low-speed spread-spectrum communication mode to ensure communication reliability under strong multipath conditions, while the high-speed WIFI link could work in shallow water, be used for pre-deployment function testing, and assist with the control and observation during retrieval. By coordinating the underwater acoustic and WIFI links based on working depths and data acquisition/transmission states, the system ensured reliable command and control, along with real-time/quasi-real-time underwater image transmission in confined waters. Additionally, the AUV was equipped with an inertial measurement unit(IMU) and a depth sensor for attitude and depth control. The effectiveness of the dual-link communication system for AUVs was validated by the pool experiment.
- autonomous undersea vehicle /
- underwater acoustic communication /
- dual-WIFI link /
- cooperative control /
- confined waters

HTML全文

图 1 双链路协同AUV应用场景

Figure 1. Application scenario of dual-link AUV cooperation

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图 2 AUV总体设计框架

Figure 2. Overall design block diagram of the AUV

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图 3 SubseaBuddy-3 AUV及其主要组成模块

Figure 3. SubseaBuddy-3 AUV and its main components

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图 4 上位机操作界面

Figure 4. Operation interface of upper computer

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图 5 分布式运动控制原理图

Figure 5. Schematic diagram of distributed motion control

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图 6 WIFI模块

Figure 6. WIFI module

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图 7 水声通信模块

Figure 7. Underwater acoustic communication module

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图 8 通信系统框图

Figure 8. Block diagram of communication system

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图 9 AUV双链路协同工作控制框图

Figure 9. Control block diagram of AUV dual-link cooperation

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图 10 AUV双链路协同工作流程图

Figure 10. Flow chart of AUV dual-link collaboration

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图 11 水下数据传输框图

Figure 11. Block diagram of underwater data transmission

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图 12 泳池测试及湖试场景

Figure 12. Test scenes of pool and lake

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图 13 两场景水声信道响应

Figure 13. Underwater acoustic channel response of two scenes

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图 14 水声链路控制

Figure 14. Acoustic link control

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图 15 水声信号波形图

Figure 15. Diagram of acoustic signal waveform

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图 16 水声信号误比特率统计

Figure 16. Statistics of acoustic signal bit error rate

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图 17 水声信号信噪比-误比特率曲线

Figure 17. Curve of signal noise ratio-bit error rate of acoustic signal

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图 18 双链路协同回传的水下图像

Figure 18. Underwater images of dual-link cooperation return

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图 19 串口回传数据

Figure 19. Serial port backhaul data

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表 1 AUV基本规格

Table 1. Basic specifications of the AUV

参数数值

舱体长度/mm 700
舱体内径/mm 220
舱体壁厚/mm 5
质量/kg 20
最大下潜深度/m 20

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表 2 AUV水声链路通信指标

Table 2. Communication specifications of acoustic link of the AUV

参数数值

通信距离/km 5
采样率/kHz 75
信号中心频率/kHz 25
调制方式 DSSS
数据率/(bits/s) 55.8

下载: 导出CSV

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