基于水声通信的AUV组网与协同导航  

AUV Networking and Cooperative Navigation Based on Underwater Acoustic Communication

作　　者：王亭亭 张南南 岳才谦[1] 王奥博[1] 吕雪 WANG Ting-ting;ZHANG Nan-nan;YUE Cai-qian;WANG Ao-bo;LÜ Xue(China Academy of Aerospace Aerodynamics,Beijing 100074,China)

机构地区：[1]中国航天空气动力技术研究院,北京100074

出　　处：《水下无人系统学报》2021年第4期400-406,共7页Journal of Unmanned Undersea Systems

基　　金：国家自然科学基金(11872348).

摘　　要：构建稳健的水下通信网络以提供编队支撑信息和导航增强信息,是实现多自主水下航行器(AUV)组网编队的基础。因此,研究如何在水下通信手段和成熟通信载荷受限的情况下,利用有限资源,构建满足真实水下环境多AUV编队需求的通信网络,对后续开展多AUV协同作业研究具有重要意义。针对当前水下移动组网编队研究中,由于组网及协同导航工程应用不足,制约了编队中其他层进一步发展的问题,文中对多AUV网络通信协议、机制以及协同导航增强的实现进行了研究,设计了一种基于水声通信的组网与协同导航方案,利用德国Evologics公司的3台水声通信机进行网络构建,并在3台AUV组成的水下编队中进行了试验,验证了该方案能为AUV编队提供有效的通信和协同保障。Constructing a robust underwater communication network to provide information related to formation support and navigation enhancement is the main objective of multi-autonomous undersea vehicle(AUV)formations.As a result,the allocation of limited resources to build a communication network that fulfills the requirements of multi-AUV formations in the actual environment,while considering limited underwater communication means and mature communication loads,is important for the research on multi-AUV cooperative operations.The application of networking and collaborative navigation engineering is insufficient in existing research on underwater mobile network formation,restricting the development in other layers.The multi-AUV network communication protocols,mechanisms,and enhanced implementation of cooperative navigation are therefore investigated in this study.A networking and coordination navigation scheme based on underwater acoustics communication is designed.This network is composed of three underwater acoustic communicators from Evologics,Germany.Experiments are thereafter conducted in an underwater formation composed of three AUVs.The results indicate that the communication network can provide effective communication and cooperation guarantee for the AUV formation.

关 键 词：自主水下航行器 水声通信 组网编队 协同导航 

分 类 号：TB567[交通运输工程—水声工程] U674.941[理学—物理]