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为实现弱通信条件下对AUV的无人跟踪,提出了一种利用USV自主跟踪AUV的方法.通过USV与AUV之间水声通信,USV导航单元计算目标航向角,确保USV达到目标AUV轨迹.为保证跟踪安全,USV与AUV之间的距离应保持一定,同时增加安全区设置,防止危险.将USV三自由度动力学方程进行解耦,分别设计速度跟踪和航向角跟踪控制器,并在速度跟踪控制中将安全距离同时作为控制目标.通过引入状态反馈实现闭环极点配置,保证距离、航向角和速度跟踪误差在USV输出能力下达到渐进稳定.针对水声通信中断期间AUV位置未知情况,通过动态滑动采样AUV历史轨迹,预测目标位置,达到继续跟踪的目的.仿真实验和湖上试验结果表明,USV应用本算法可在复杂的水声通信环境下实现对AUV持续、稳定的自动跟踪,效果令人满意.
In order to realize the unmanned tracking of AUV under weak communication conditions, a method to track the AUV autonomously by using the USV is proposed.Unwake acoustic communication between the USV and the AUV, the USV navigation unit calculates the target heading angle to ensure that the USV reaches the target AUV trajectory. In order to ensure the tracking safety, the distance between USV and AUV should be kept constant, and the safety zone should be set up to prevent the danger. The USV three-DOF kinetic equation is decoupled, and the speed tracking and heading angle tracking controller are designed separately. In the speed tracking control, the safety distance is taken as the control target at the same time, the closed-loop pole configuration is realized by introducing the state feedback to ensure that the distance, heading angle and velocity tracking error are asymptotically stable under the output capability of USV.Aiming at the unknown position of AUV during the underwater acoustic communication interruption, Through the dynamic sliding sampling of AUV history trajectory, the target position can be predicted and the purpose of tracking can be achieved.Experimental results and lake experiments show that USV can achieve the continuous and stable automatic tracking of AUV under the condition of complex underwater acoustic communication Satisfactory.