远程自主水下航行器建模研究

A New Method for Modeling Long Distance Autonomous Underwater Vehicle(AUV)

通过对远程自主水下航行器进行动力学和运动学分析,基于经典的动量和动量矩定理,在地心惯性坐标系下建立了一种适合远程应用的自主水下航行器模型。该模型不仅考虑了地球的曲率,也考虑地球的自转运动,可应用于水下航行器导航与控制系统的一体化仿真及系统精度分析。

It is well known that the hydrodynamic model of autonomous underwater vehicle(AUV) is very important for system analysis, design and simulation, but the traditional model of AUV suffers from the following two shortcomings: (1) the local earth coordinate is selected as an inertial one, the model does not consider the curvature and rotation of the earth; (2)the geographic positional parameters, such as longitude and latitude, are not included in the model. Therefore such a model will result in a big position error and cannot be used for integrated navigation and control system simulation for a long distance AUV. In order to overcome the aforementioned problems, a new hydrodynamic model for a long distance AUV is proposed in this paper.In order to establish the new hydrodynamic model of long distance AUV, the earth-centered inertial coordinates, earth-centered earth-fixed coordinates, navigation coordinates, body-fixed coordinates, velocity coordinates are selected. The hydrodynamic model consists of two parts. The first part is the six-degree-of-freedom dynamic equations in earth-centered inertial coordinates based on the theory of momentum and moment. The second part is the six-degree-of-freedom kinematic equations by coordinates transformations among earth-centered inertial coordinates, earth-centered earth-fixed coordinates, navigation coordinates, as well as body-fixed coordinates. This model has been successfully used in integrated navigation and control system semi-physical simulation for a long distance AUV. Simulation results show that this model has the following two distinguishing features:(1) Because the model is established in the earth-centered inertial coordinates, the navigation parameters, such as longitude and latitude, are included in the model, therefore, the new model is more suitable for global guidance system simulation for long distance AUV.(2) The model is suitable for long distance AUV integrated navigation and control system simulation and can be used for precision analysis as well as precision index assignment of the sensors of navigation and control system.