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基于启发的唤醒传感器的自动水下车辆的唤醒检测和定位

Xuanye Hu^1,2, Yi Yang¹, Zhiyu Liao¹

¹State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.

Sensors (Basel, Switzerland)

|January 11, 2025

概括

这项研究引入了一种新型的毛灵感唤醒传感器 (CIWS),用于被动检测自动水下车辆 (AUV) 的唤醒. 这种方法通过分析螺旋频率和唤醒速度场来帮助AUV检测和跟踪.

科学领域:

海洋机器人海洋机器人
水下传感技术的技术.
流体动力学流体动力学

背景情况:

自主水下车辆 (AUV) 对海洋勘探和监视至关重要.
有效地检测和跟踪自动驾驶无人机对于任务成功和作战安全至关重要.
被动传感方法在降低可检测性和功耗方面具有优势.

研究的目的:

提出和验证一种新的被动检测方法,用于AUV.
开发一种以纤毛为灵感的唤醒传感器 (CIWS),用于水下流场检测.
通过唤醒签名分析建立AUV检测和跟踪的技术基础.

主要方法:

启发毛的唤醒传感器 (CIWS) 的特征及其工作原理.
使用流速传感器测量"TS MINI"AUV在后面的流速.
建立一个AUV唤醒速度现场模型.
在现场测量AUV跟踪使用CIWS在各种位置.
分析唤醒数据以确定特征螺旋频率,并建立光谱幅度和唤醒速度之间的映射模型.

主要成果:

确定了AUV螺旋的特征频率,并与旋转速度和叶片数量相关联.
开发了一个映射模型,将特征频率的光谱幅度与唤醒速度联系起来.
该CIWS成功测量了AUV唤醒场.
该研究证明了相对于AUV螺旋的传感器位置的估计.

结论:

拟议的CIWS提供了一种可行的方法,用于被动AUV唤醒检测.
开发的模型可以根据唤醒特征来估计AUV的位置.
这项研究为水下探测和跟踪系统提供了重大进展.

关键词:

自主水下车辆自主水下车辆启发了的唤醒传感器.目标定位定位目标定位定位唤醒检测检测器唤醒检测器唤醒跟踪唤醒跟踪唤醒跟踪

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