Search

Search Results

• NAVIGATION SYSTEM OF AN AUTONOMOUS UNDERWATER VEHICLE BASED ON DATA TRANSMITTED VIA AN ACOUSTIC CHANNEL FROM A HYDROACOUSTIC STATION

  D.А. Yukhimets, А.S. Gubankov

  2023-04-10

  Abstract ▼

  The paper proposes a method for constructing a navigation system of an autonomous underwater
  vehicle (AUV) using a limited set of onboard sensors and receiving position data of the AUV
  via acoustic communication channels from a hydroacoustic underwater monitoring station (HUMS).
  The proposed method obtains estimates of the position and velocities of the AUV based on its dynamic model, assuming that the angular velocities, orientation angles and depth of the AUV are determined
  using its onboard sensors. Linear velocities are not directly measured. The Kalman filter is
  used to implement the navigation algorithm. At the same time, the feature of this algorithm is the
  implementation of a two-stage procedure for correcting estimates of coordinates and linear velocities
  of the AUV obtained on the basis of its dynamic model. This correction is carried out in two ways,
  depending on what data is available at the current step of the system. The first option assumes the
  correction of these estimates only on the basis of data from the depth sensor, which is updated at
  each step of the system. And the second option is used when data comes from HUMS via acoustic
  communication channels. This data comes with a delay due to the limited speed of propagation of
  acoustic signals in the aquatic environment, and may also periodically be distorted and disappear.
  The paper proposes a method for compensating for these delays by saving an array of previously
  calculated data and evaluating the necessary corrections by comparing the received data with the
  estimates obtained earlier. The proposed scheme for the construction of the navigation system allows
  for the correction of its readings in the conditions of irregular data updates from the HUMS. The
  results of modeling using a model describing all the main features of the HUMS operation and its
  interaction with the AUV (delays in obtaining information, the presence of measurement noise and
  sampling of HUMS data) showed a sufficiently high efficiency of the proposed solution. At the same
  time, the main advantage can be indicated by the possibility of using a minimum number of on-board
  sensors and the possibility of fast deployment of HUMS for interaction with AUV.

• DIGITAL PLATFORM FOR THE CREATION OF DISTRIBUTED CONTROL AND NAVIGATION SYSTEMS FOR UNDERWATER VEHICLES

  V.F. Filaretov, D.A. Yukhimets, A.V. Zuev, A.S. Gubankov, D.D. Minaev

  2021-04-04

  Abstract ▼

  The paper proposes the architecture of a digital platform for the implementation of distributed
  control and navigation systems of underwater vehicles (UV), that perform technological operations
  in an uncertain environment. The proposed digital platform is designed to automate the
  following activities: monitoring the state of underwater infrastructure objects (communication
  lines, pipelines, mining equipment, etc.), cartographic and geodesic works, determining the parameters
  and boundaries of physical fields, zones of distribution of chemical compounds (pollution
  zones) and bioresources, protection of underwater and surface infrastructure objects (underwater
  mariculture farms, borders of water reserves, etc.), tracking moving objects, searching for objects
  of a given type (biological, man-made, etc.), performing underwater technological operations
  (welding, cutting, cleaning, etc.). For this platform, a command system has been developed that
  provides flexible assignment of various types and purposes of UV missions. There are five types of
  digital platform messages: mission order management commands, mission load management
  commands, information messages, mission and group control commands. The concept of building
  distributed control systems of the UV is proposed, which ensures the compatibility of existing onboard
  UV systems with the proposed solution based on the combined hydroacoustic systems of
  global hydroacoustic navigation developed in PAO "Dalpribor" (Vladivostok). These control systems
  consist of two main parts. The first part is the initial on-board information and control system
  of the UV, which ensures its movement to a given point in space at a given speed, receiving
  data from on-board sensors, as well as controlling the operation of on-board equipment. The second
  part – the high level control system, provides the possibility of interaction of the control system
  through an acoustic communication channel with the global hydro-acoustic navigation system
  and the operator's automated workplace. Simulation of the data transfer in CoppeliaSim between
  the operator and the UV within the proposed digital platform have shown that reliable mission
  loading and receiving information about the state of the UV is provided at different speeds and
  under different operating conditions of the acoustic communication channel.