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Acoustics-Based Autonomous Docking for A Deep-Sea resident rov

China Ocean Engineering 2022年第1期36卷 100-111页

作者： ZHANG Yun-xiu ZHANG Qi-feng ZHANG Ai-qun CHEN Jun LI Xin-guo HE Zhen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Key Laboratory of Marine Robotics Liaoning ProvinceShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Institutes of Deep-sea Science and Engineering Chinese Academy of SciencesSanya 100049China Institutes of Acoustics Chinese Academy of ScienceBeijing 100190China

This paper presents autonomous docking of an inhouse built resident Remotely Operated Vehicle(rov),called rover rov,through acoustic guided techniques.A novel cage-type docking station has been *** docking station can be placed on a deep-sea lander,taking the rover rov to the *** of using vision-based pose estimation techniques and expensive navigation sensors,the rover rov docking adopts an ultra-short baseline(USBL)and low-cost inertial sensors to build an adaptive fault-tolerant integrated navigation *** solve the problem of sonar-based failure positioning,the measurement residuals are exploited to detect measurement ***,an adaptation scheme for estimating the statistical characteristics of noise in real-time is proposed,which can provide robust and smooth positioning *** is more suitable for a compact and low-cost deep-sea resident *** experiments have been conducted successfully in the Qiandao Lake and the South China Sea area with a depth of 3000 m,*** experimental results show that the functionality of autonomous docking has been *** the guidance of the navigation system,the rover rov can autonomously and efficiently return to the docking station within a range of 100 m even when the amounts of outliers exist in the acoustic positioning *** achievements can be applied to current rovs by an easy retrofit.

关键词： resident rov docking station autonomous docking acoustic guidance adaptive integrated navigation

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