上海交通大学航空航天学院
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Shanghai Jiao Tong University,School of Aeronautics And Astronautics
无人水下航行器(Unmanned Underwater Vehicle ,UUV)因其所具有的高机动性、高智能化、高可操纵性等特点,正逐渐成为各国水下攻防领域的研究热点。而由于UUV所携带能源有限,需要与水上平台或者母船进行对接充能,因此开展水下自主对接领域的研究十分必要。以往的研究多聚焦于UUV的运动规划与控制算法或是对接过程中UUV与坞站的相互影响,鲜有对水下感知体系的系统性研究。本文以水下动态对接任务为研究背景,调研了国内外机构的相关任务的导引技术方案,对多波束声呐、激光雷达和水下电磁传感器进行了原理与特性分析,并对多波束成像声呐做了仿真实验,提出了一个面向水下动态对接的协同感知导引系统架构及方案。该架构能够根据水下动态对接任务各阶段的需求与相关传感器的特性进行灵活调整传感器的工作优先级,以保证整个对接任务阶段都能为回收平台与UUV平台提供有效的对接信息。
UUV (Unmanned Underwater Vehicle) characterized by its high maneuverability, intelligence, and operability, is increasingly becoming a focal point of research in the underwater offensive and defensive fields for various countries. Given the limited energy resources carried by UUV, the need for energy replenishment through docking with surface platforms or motherships necessitates the exploration of underwater autonomous docking research. Previous studies have predominantly concentrated on the motion planning and control algorithms of UUV or the mutual influence between UUV and docking station during the docking process, with a dearth of systematic research on underwater perception systems. This paper, set against the backdrop of underwater dynamic docking missions, reviews the guidance technology schemes for related tasks by institutions worldwide, analyzes the principles and characteristics of multi-beam sonar, laser radar, and underwater electromagnetic sensors, and conducts simulation experiments on multi-beam imaging sonar. A collaborative perception guidance system architecture and scheme for underwater dynamic docking are proposed. This architecture is capable of flexibly adjusting the operational priority of sensors based on the requirements of each phase of the underwater dynamic docking mission and the characteristics of the relevant sensors, ensuring that effective docking information is provided for both the recovery platform and the UUV platform throughout the entire docking mission phase.
