针对主流的AUV跨域无人装备协同作业模式中存在的隐蔽性不足以及定位、回收困难问题，提出一种将USSV作为中继站的USSV与AUV协同工作系统。协同工作系统采用远程控制端-基站-USSV-AUV结构，根据实际作业中各部分所在空间区域的不同，对协同工作系统的通信、控制和定位方案进行了设计，同时给出了无人艇的硬件总布置和电路系统布置，并进行协同定位仿真实验。仿真结果表明，协同定位方法能够对AUV在水下的运动轨迹进行有效捕捉，且在设定时间内精度良好，有一定的实际应用价值。提出的协同工作系统可以为无人装备协同作业模式设计思路提供参考。
Aiming at the lack of concealment and difficulties in positioning and recovery in the mainstream AUV cross-domain unmanned equipment cooperative operation mode, a USSV and AUV cooperative operation system using USSV as a relay station is proposed. The cooperative working system adopts the remote control terminal-base station-USSV-AUV structure. According to the different spatial areas of each part in the actual operation, the communication, control and positioning schemes of the cooperative working system are designed, and the unmanned boat's The overall hardware layout and circuit system layout, and the co-location simulation experiment. The simulation result shows that the cooperative positioning method can effectively capture the underwater trajectory of the AUV, and the accuracy is good within the set time, which has certain practical application value. The proposed cooperative work system can provide reference for the design ideas of unmanned equipment cooperative operation mode.
2021,43(10): 61-65 收稿日期：2020-10-27
DOI：10.3404/j.issn.1672-7649.2021.10.014
分类号：U674
基金项目：广东省海洋经济发展专项(GDNRC[2020]018)；国家自然科学基金资助项目(U180920009，61971198)；全球变化与海气相互作用专项；海洋科学技术局长基金资助项目(1701)
作者简介：刘蔚(1985-),男,工程师,研究方向为海洋智能装备
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