Abstract

Precise position of Unmanned Underwater Vehicles (UUVs) plays a decisive role in optimal formation control, reasonable path planning, and efficient cooperative operation. However, the traditional method has the deficiency of low ranging accuracy and contains systematic deviation in the deep ocean applications, which seriously affects the accuracy of UUVs position and makes the goal of UUVs optimal configuration no longer applicable. A novel acoustic ray-trace correction method is proposed for UUVs cooperative localization in deep ocean applications. Considering the bending of underwater sound ray and the variation of sound velocity, the model of UUVs cooperative localization based on ray-trace correction is established. Two master UUVs in shallow ocean and one slave UUV in deep ocean under five configurations are simulated. The experimental results show that the average position bias of UUVs cooperative localization under the five configurations are reduced by 57.97%, 62.29%, 68.51%, 74.93% and 82.54%, respectively, which can expand the application scenarios of UUV. Furthermore, the proposed method can overcome the drawback of systematic deviation in the traditional method, so as to be consistent with the goal of UUVs optimal configuration.

摘要

无人水下航行器（UUV）的精确定位对最优编队控制、合理路径规划、高效协同作战具有决定性作用。但传统方法存在测距精度低的不足，在深海应用中存在系统偏差，严重影响UUV定位精度，使得UUV优化配置的目标不再适用。针对 UUV 在深海应用中的协同定位，提出了一种新的声射线跟踪校正方法。考虑水下声线的弯曲和声速的变化，建立了基于声迹校正的UUV协同定位模型。模拟了五种配置下的两艘浅海主UUV和一艘深海从属UUV。实验结果表明，五种配置下UUV协同定位的平均位置偏差分别降低了57.97%、62.29%、68.51%、74.93%和82.54%，可以扩展UUV的应用场景。此外，该方法可以克服传统方法存在系统偏差的缺点，从而与 UUV 优化配置的目标保持一致。