水下无人系统学报

Research Status and Development Trend of Multi-UUV Coordinated Control Technology: A Review

YAN Zhe-ping, LIU Xiang-ling

2019, 27(3): 226-231. doi: 10.11993/j.issn.2096-3920.2019.03.001

[Abstract](2086) [PDF 205KB](1043)

Abstract:
Coordinated control of multi-unmanned undersea vehicle(UUV) is necessary to complete the missions like cooperative reconnaissance, cooperative combat, cooperative search and cooperative rescue. In this paper, the research status and development of key technologies in coordinated control of multi-UUV worldwide are summarized in terms of formation control, task assignment, coordinated path planning and target capturing. The formation maintenance, the formation reconfiguration, the cooperative obstacle avoidance, and the swarm control derived from formation control are discussed in detail. It is emphasized that more attention should be paid to the coordinated control of strongly-coupled non-linear model, the coordinated control under limited communication constraints in underwater environment, and the coordinated control of heterogeneous multi-UUV systems, so as to achieve a more effective coordinated control method of multi-UUV in complex marine environment

Review of Autonomous Undersea Vehicle Navigation Methods

HUANG Yu-long, ZHANG Yong-gang, ZHAO Yu-xin

2019, 27(3): 232-253. doi: 10.11993/j.issn.2096-3920.2019.03.002

[Abstract](1798) [PDF 690KB](1761)

Abstract:
The accuracy of underwater navigation is the guarantee for autonomous undersea vehicle(AUV) to carry out underwater search, detection, anti-submarine and other tasks. Most of the existing AUV navigation methods are based on the strap-down inertial navigation system(SINS), and supplemented by acoustic velocity measurement and positioning technology, geophysical navigation technology and cooperative navigation technology. In this paper, the latest research progresses of AUV underwater navigation technology are reviewed, the basic principles of various underwater navigation technologies for AUV are introduced, and the application conditions, advantages and disadvantages of these methods are pointed out. Moreover, the technical difficulties of AUV underwater navigation method are analyzed, and corresponding solutions are given. Finally, future development trend of AUV underwater navigation technology is prospected

Network Navigation Accuracy Analysis of AUV Swarm Based on Equivalent Fisher Information Matrix

ZHANG Li-chuan, WANG Yong-zhao, QU Jun-qi

2019, 27(3): 254-259. doi: 10.11993/j.issn.2096-3920.2019.03.003

[Abstract](775) [PDF 727KB](347)

Abstract:
For the cooperative location system of autonomous undersea vehicle (AUV) swarm, the positioning accuracy is mainly affected by the transmission and fusion of information among AUV swarm nodes. In this paper, four network navigation models of AUV swarm are proposed, and the theory of equivalent Fisher information matrix is employed to analyze the transmission and fusion of information among nodes. The factors influencing the positioning error of AUV swarm are obtained, and a formation configuration with higher positioning accuracy is designed. Theoretical analysis and simulations prove that when there is information fusion among the follower AUV nodes, the follower AUVs can get higher positioning accuracy by using the information of entire formation to estimate the position of the follower AUVs.

Underwater Target Recognition Method Based on Deep Convolution Feature

DU Xue, LIAO Hong-zhou, ZHANG Xun

2019, 27(3): 260-265. doi: 10.11993/j.issn.2096-3920.2019.03.004

[Abstract](1126) [PDF 1445KB](589)

Abstract:
With the help of artificial intelligence technology, the intelligent recognition technology for unmanned undersea vehicle(UUV) to detect underwater target is presented. According to the characteristics of high noise and low contrast in underwater environment, median filtering and local enhancement are adopted to preprocess underwater images. Based on the characteristics of small sample of underwater images, the idea of incremental convolution layer by layer is proposed drawing from the visual geometry group net(VGGNet), and an underwater intelligent recognition framework is designed by using deep convolution neural network (DCNN) for training on the large data set Cifar-10 and learning general features of the image. In addition, migration learning and data enhancement technology are used for transferring knowledge to learn the unique features of underwater targets, so as to solve the problem of insufficient underwater data sets and to prevent over-fitting. Simulation results show that the proposed underwater target intelligent recognition technology has obvious advantages over the traditional algorithm in recognition effect and automation degree on specific test set.

Online Obstacle Avoidance of UUV Based on the Improved Biological Inspired Model

LI Lei, DU Du, CHEN Ke

2019, 27(3): 266-271. doi: 10.11993/j.issn.2096-3920.2019.03.005

[Abstract](728) [PDF 691KB](296)

Abstract:
Aiming at the problem of safe and rapid obstacle avoidance faced by unmanned undersea vehicle(UUV) in complex marine environment, this paper proposes an online obstacle avoidance method based on improved biological inspired model to ensure the real-time obstacle avoidance capability. Firstly, according to the principle of predictive control rolling optimization, the real-time obstacle information obtained from the forward-looking sonar is used as a reference, and the grid map is optimized for rolling and real-time updating of environmental information. Secondly, the changes of the rolling grid map one-to-one correspond to the biological inspired neural network topology map, then a new decision function is designed for the position uncertainty of the biological inspired model. By determining the function value to obtain the navigation position of UUV at the next moment, UUV can track the planned path to realize online real-time obstacle avoidance. Finally, a dynamic test of rolling grid is designed to verify the correctness of the environmental modeling, and a simulation test of online path planning for obstacle avoidance is also designed. Simulation results verify the effectiveness of the proposed method.

Multi-UUV Navigation Method Based on Particle Swarm Optimization Algorithm

WANG Lei, WANG Guo-chen, FAN Shi-wei

2019, 27(3): 272-276. doi: 10.11993/j.issn.2096-3920.2019.03.006

[Abstract](632) [PDF 415KB](363)

Abstract:
Global positioning system(GPS) cannot be used to correct the accumulated inertial navigation positioning error when inertial navigation system(INS) works underwater. Although traditional geomagnetic matching navigation can solve this problem, this navigation method relies too much on prior geomagnetic map. The authors are inspired by the fact that some of living beings use geomagnetism for navigation, and propose a multi-unmanned undersea vehicle(UUV) bionic cooperative navigation algorithm based on particle swarm optimization. The navigation process is reduced to a multi-objective search problem. Then the navigation tasks are accomplished by sharing the information among UUVs, and the positioning errors of the INS are corrected in real time. Simulation result verifies the effectiveness of the proposed method.

An Underwater SLAM Approach Using Magnetic Beacons

CHANG Shuai, FU Xiao-mei, ZHANG Cui-cui, ZHAO Yu-xin, DU Xue

2019, 27(3): 277-283. doi: 10.11993/j.issn.2096-3920.2019.03.007

[Abstract](847) [PDF 710KB](416)

Abstract:
To improve the effectiveness of simultaneous localization and mapping(SLAM) in the areas with poor natural features and avoid the difficulty introduced by the unknown magnetic moments of beacons in inversion, the artificial magnetic beacons are treated as landmarks to provide observation information for state update in SLAM. The tensor Euler deconvolution and eigenanalysis of the magnetic gradient tensor(TED+EGT) approach is taken to make single-point relative position inversion during navigation. Then, a convergence judgment criteria of the continuous inversion is proposed to extract the relative positions between beacons and UUV for establishing the linear measurements in SLAM model. At last, three scenes of magnetic beacon distribution are designed to verify the effectiveness of the proposed approach. The influence of magnetic beacons’ distribution on the system performance is analyzed, and the effectiveness of the approach is verified. This research may help improve UUV’s ability in long-time underwater covert operations.

Parameters Self-Tuning for Depth Control of AUV Based on RBF Neural Network

DU Du

2019, 27(3): 284-289. doi: 10.11993/j.issn.2096-3920.2019.03.008

[Abstract](602) [PDF 443KB](333)

Abstract:
The autonomous undersea vehicle(AUV) vertical plane control technology is very important while accurately diving into the sea at a fixed depth. In the process of designing the controller based on proportional-integral-deriva- tive(PID) control, the PID parameters need to be adjusted to guarantee that the controller can control the AUV to track specified trajectory accurately, but the parameter setting needs to be tried repeatedly, which consumes much time and cannot guarantee its optimal effect. In order to solve this problem, a PID control method based on radial basis function(RBF) neural network is proposed in this paper for parameter self-tuning. Firstly, a motion model of AUV vertical plane is established, and the RBF neural network structure is designed. Then, an iterative formula of RBF parameters and PID parameters is given based on the gradient descent method, and a discrete PID controller is designed. Finally, the effectiveness of the proposed control method is verified by numerical simulation. Simulation results show that AUV can reach specified depth in a short time, and the PID parameters can be self-tuned.

Dynamic Target Tracking Guidance Method for UUV in Unknown Environment

LI Juan, ZHANG Jian-xin, YANG Li-juan, YAN Zhe-ping

2019, 27(3): 290-296. doi: 10.11993/j.issn.1673-1948.2019.03.009

[Abstract](1299) [PDF 505KB](379)

Abstract:
For the random dynamic target tracking problem of unmanned undersea vehicle(UUV)in unknown environment, a tracking and obstacle avoidance switching guidance strategy is proposed. The relative kinematics relation between target and UUV, as well as target and obstacle, is established, and the saturation constraint condition of speed and angular velocity in UUV motion control is taken into account. Lyapunov method is then used to complete the design of dynamic target tracking and obstacle avoidance strategy based on line of sight switching guidance in order to meet UUV navigation safety and tracking accuracy. Numerical simulation with the proposed method is carried out, and the results show that the tracking precision meets the requirement in both static and dynamic obstacle environments, verifying the correctness and feasibility of the tracking and obstacle avoidance switching guidance strategy.

Improved Feature Extraction Method for Side Scan Sonar Images

WANG Qi-lin, WANG Hong-jian, LI Qing, XIAO Yao, BAN Xi-cheng

2019, 27(3): 297-304. doi: 10.11993/j.issn.1673-1948.2019.03.010

[Abstract](553) [PDF 2730KB](250)

Abstract:
To solve the problem in feature extraction of side scan sonar images that the line feature extracted by Hough transform is not satisfactory due to the deficiency of the basic space conversion method, a better space conversion method is proposed. This method needs to establish two image edge mask matrices — one for maintaining the original shape to find the straight line features, and the other for reducing the corresponding edge points according to the edge point transformation. This method can ensure that the feature points belonging to the straight line participate in the formation of linear features. However, the linear features detected in the line segment detection(LSD) algorithm will be broken due to intersection, hence a method of fitting the broken line features is designed, in which the straight line features being determined as ‘broken’ are simulated via angle and position so as to deal with the trouble of having too short or too much straight lines due to the fracture of the linear features, and then the appropriate straight line features are selected according to the length threshold. The linear feature extraction of side scan sonar images verifies that the improved Hough transform can extract the line features better, and the optimized LSD algorithm can reduce the influence of line feature fracture. For the sonar image to be processed, the number of point feature extraction is large, which can not reflect the characteristics of the image content well; and the improved line feature can extract the outline of the im-age content, and the information is rich, which better expresses the content of the image. It is provide reference for relevant line feature extraction research.

Collaborative Calibration of MEMS Gyroscope under UUV Cooperative Navigation

WANG Qiu-ying, YIN Juan

2019, 27(3): 305-312. doi: 10.11993/j.issn.2096-3920.2019.03.011

[Abstract](676) [PDF 459KB](420)

Abstract:
When the short-term failure of the underwater acoustic communication of an unmanned undersea vehicle (UUV) disables cooperative navigation, the three-axis geomagnetic sensor and the two-axis micro-electro mechanical system(MEMS) gyroscope’s combined attitude sensor equipped to slave UUV gain large gyro drift of the MEMS gyroscope, which leads to poor accuracy of slave UUV dead reckoning. Therefore, a collaborative calibration method of MEMS gyroscope under UUV cooperative navigation is proposed in this study. Through the observability analysis, the path design principle of slave UUV collaborative calibration is proposed. The gyro drift of the two-axis MEMS gyroscope is solved online and compensated from the slave UUV navigation system to improve slave UUV dead reckoning accuracy under the collaborative calibration path. Simulation results demonstrate the effectiveness of collaborative calibration of MEMS gyroscope and the accuracy of collaborative calibration path design principle under UUV cooperative navigation.

A Positioning Method of Monocular Visual Guided Light Array in UUV Docking System

ZHANG Wei, LI Zi-xuan, GONG Peng, ZHAO Han-qing, ZENG ning

2019, 27(3): 313-318. doi: 10.11993/j.issn.2096-3920.2019.03.012

[Abstract](598) [PDF 1439KB](703)

Abstract:
A novel monocular visual guided light array positioning method of unmanned undersea vehicle(UUV) docking system is proposed for the fold-carrying-pole recovery. First, according to the mechanism characteristics of UUV docking and the visual docking requirements, a simple and feasible UUV visual docking device is designed. Second, the Otsu method is improved to extract target features of the guide light array under the conditions of darkness, low contrast, and blurry details. Third, using the binary large objects(BLOB) analysis to describe features and adopting the improved multi-scale kernel correlation filter(KCF) tracking algorithm, the tracking fail due to appearance of pseudo light source during the tracking process is avoided. Pool test combined with ultra-short baseline(USBL) and manual calibration data verifies that this positioning method is more effective and stable than the USBL method for short-distance positioning, and the error is within 0.1 m after error compensation.

AUV Rudder Angle Decoupling Method Based on Energy Optimization

WANG Ming-liang, LI De-long, LIN Yang, ZHU Xing-hua, JIA Song-li

2019, 27(3): 319-326. doi: 10.11993/j.issn.2096-3920.2019.03.013

[Abstract](405) [PDF 1120KB](285)

Abstract:
During the steering of tail rudder linkage of an underactuated autonomous undersea vehicle(AUV), the rolling attitude will result in the coupling of controls in horizontal and vertical planes. Focusing on the navigation mission of the AUV with low restoring moment, single propeller and variable loads, this paper proposes a new rudder angle decoupling method with energy reuse based on the known roll angle, in which global optimal utilization of the energy generated by rolling attitude is taken into account. A neural network algorithm is used in the decoupling method to optimize the decoupling parameters, thus reducing the working stroke of the actuators and enhancing the utilization of global energy. Numerical simulation result coincides with the theory analysis, validating the feasibility of the proposed method. Results from sea trial indicate that the proposed method can effectively reduce the steering stroke of the actuators and power consumption.

Simulation Test Method of Whole Trajectory for Undersea High-Speed Vehicle Base on Acoustic Butt Coupling

ZHANG Jun, JIANG Ji-jun, KANG Wen-yu, XU Yuan-yuan, WANG Ming-zhou

2019, 27(3): 327-332. doi: 10.11993/j.issn.1673-1948.2019.03.014

[Abstract](442) [PDF 476KB](326)

Abstract:
For the overall performance evaluation before sea trial, it is urgent to establish a hardware-in-the-loop simulation environment on land to verify its overall effectiveness. In this study, an on-land simulation test system of undersea high-speed vehicle’s whole trajectory is designed based on acoustic butt coupling. The constitution and principle of the system are given, and the key technologies concerning such as acoustic butt transducer, acoustic butt array, acoustic matching material and channel isolation control are discussed. The correctness and feasibility of the acoustic butt coupling method are verified by the test data, then the whole trajectory simulation test is realized in laboratory condition. A whole trajectory simulation example proves that the whole trajectory simulation test technology based on acoustic butt coupling is applicable to overall performance evaluation and trajectory test of undersea high-speed vehicles.

Design and Implementation of Dynamic Positioning System for a Fully Actuated AUV

ZHOU Qi-run, ZENG Qing-jun, YAO Jin-yi, ZHU Zhi-yu, DAI Wen-wen

2019, 27(3): 333-338. doi: 10.11993/j.issn.2096-3920.2019.03.015

[Abstract](903) [PDF 916KB](377)

Abstract:
A dynamic positioning control method based on proportional-integral-derivative (PID) control for fully actuated autonomous undersea vehicle(AUV) is presented to solve the problem that AUV is sensitive to environmental disturbance due to its small inertia in the near-surface motion control. Taking the independently developed T-SEA I type AUV prototype for example, the structural design idea of the AUV system is introduced. The dead reckoning system is composed by optical fiber inertial navigation system, Doppler velocity log and depth gauge. The position and attitude errors are compensated by PID control to resist environmental disturbance. Lake test verifies the practicability of the dynamic positioning system. This study may provide a reference for future researches on underwater search and rescue, object location, and so on.

Modeling and Simulation on Operational Effectiveness of Remote Decoy UUV Covering Submarine

LIU Hai-guang, LI Wei, ZHANG Yong

2019, 27(3): 339-345. doi: 10.11993/j.issn.2096-3920.2019.03.016

[Abstract](696) [PDF 2041KB](460)

Abstract:
According to the mission and combat process of the long-range decoy unmanned undersea vehicle(UUV), its op-erational effectiveness specification for covering submarine operation is put forward. By comparing and analyzing the probability model of anti-submarine patrol aircraft searching submarine, a probability model of single long-range decoy UUV deceiving anti-submarine patrol aircraft is constructed. Considering the process of deceiving anti-submarine patrol aircraft, the tactical countermeasure cycle is defined, and the diversion time model is constructed. According to the operational characteristics of multiple decoy UUVs, the probability model and the containment time model of multiple decoys are established. And the probability model of deceiving underwater monitoring system is established based on existing experience to systematically analyze the operational effectiveness of long-range decoy UUV covering submarines to break through blockade. Monte Carlo method is used to simulate the operational effectiveness of long-range decoy UUV covering submarine to break through the anti-submarine system composed of anti-submarine patrol aircraft and underwater monitoring system. Simulation results show that the speed, number, tactics and other factors have important influences on the operational effectiveness of long-range decoy UUV. Finally, some methods and measures for improving the operational effectiveness of long-range decoy UUV are given.

Endurance Analysis of Small Long-Range AUV

QIN Yu-feng, QI Zhan-feng, PENG Jia-zhong, SHI Jian, FENG Zhi-tao

2019, 27(3): 346-354. doi: 10.11993/j.issn.1673-1948.2019.03.017

[Abstract](709) [PDF 1685KB](813)

Abstract:
To extend the endurance of the small long-range autonomous undersea vehicle(LRAUV), its maximum range under different running modes and with limited energy carried is discussed based on the analysis of energy consumption. The effects of running speed, diving and floating motion, electronic equipment power consumption, and communication frequency on effective range are analyzed. The maximum range of the small LRAUV under different running modes is obtained by combined theoretical analysis, simulation calculation and test, and the theoretical method for improving the effective range of the small LRAUV is also obtained. The results indicate that: 1) the 60 kg-class small LRAUV can achieve a theoretical range of up to 2554 km; 2) the speed has the greatest impact on the effective range; 3) low-speed propulsion is a prerequisite for long range; and 4) the range of the small LRAUV can also be extended by reducing the times of diving and floating, and appropriately lowering the communication frequency.

Navigation Calibration and Performance Evaluation Method of Long-Endurance UUV

CHEN Ke, YE Kai-fu, DU Du, LI Yang

2019, 27(3): 355-360. doi: 10.11993/j.issn.2096-3920.2019.03.018

[Abstract](648) [PDF 417KB](348)

Abstract:
To improve navigation accuracy of long-endurance unmanned undersea vehicle(UUV) and to standardize the navigation performance evaluation specifications, a navigation calibration and performance evaluation method of long- endurance UUV is proposed. Firstly, the common navigation methods of UUV are summarized, and navigation test requirements of long-endurance UUV are provided. Then the process of the navigation calibration and performance evaluation is put forward, the performance evaluation specifications are given, and some suggestions for the method are offered. Finally, the underwater transponder positioning (UTP) is used as an auxiliary navigation equipment to correct the UUV navigation results. Simulation results show that the proposed method can effectively suppress the cumulative error of long-endurance UUV navigation. This method may provide a reference for improving the accuracy of long-endurance UUV navigation.

2019 Vol. 27, No. 3

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