自主式水下潜航器的多声呐测高策略分析

Research on AUV’s Underwater Multi-Sonor Altimetry Strategy

海底地形复杂多变,海底地形的匹配跟踪常采用自主式水下潜航器(Autonomous Underwater Vehicle,AUV)进行。为此,研究对比单声呐误差更小的三声呐地形跟踪策略,通过分析近海底地形的特性,采用彼此间相隔一定角度的三声呐地形感知系统,并对三个单波束声呐所测量的数据进行对比分析。由于AUV采用的是四桨无舵运动模型,研究姿态传感器所对应的姿态角俯仰角、航向角变化规律,结合地形特性,设计AUV航行高度指令的近海底地形跟踪策略。在Matlab/Simulink软件中对搭建的仿真模型进行仿真验证,对比单声呐和三声呐策略的优缺点,并在所得较合理的三声呐安装角度下,通过三声呐建模得出三种海底地形,通过地形建模得出仿真所需要的3种地形波形。

The seabed terrain is complex and changeable,and the matching and tracking of seabed terrain is often carried out by Autonomous Underwater Vehicle(AUV).To this end,the three-sonar terrain tracking strategy with smaller error compared with single sonar is studied.By analyzing the characteristics of near-seabed terrain,the three-sonar terrain sensing system with a certain angle between each other is adopted,and the data measured by three single-beam sonar are compared and analyzed.Because the AUV adopts a four-propeller rudderless motion model,the change law of attitude angle,pitch angle and heading angle corresponding to the attitude sensor is studied,and the near-seabed terrain tracking strategy of AUV navigation altitude command is designed based on the terrain characteristics.Simulate and verify the built simulation model in Matlab/Simulink,compare the advantages and disadvantages of single sonar and three sonar,and under the relatively reasonable installation angle of three sonar,get three kinds of seabed terrain through three sonar modeling,and get three kinds of terrain waveforms needed for simulation through terrain modeling.