The invention relates to an underwater connection method and device, electronic equipment and a storage medium, and the method comprises the steps: transmitting a connection request signal to a connection dock, so that the connection dock determines a first azimuth angle through a second USBL array in response to the connection request signal, and transmits a response signal carrying the first azimuth angle to an AUV; receiving a response signal, obtaining a first azimuth angle in the response signal, and determining a first distance and a second azimuth angle through the first USBL array; acquiring a course angle and geodetic coordinates of the AUV; determining the position of the docking dock based on the geodetic coordinates of the AUV, the course angle of the AUV, the second azimuth angle and the first distance; determining the opening direction of the docking dock based on the first azimuth angle, the second azimuth angle and the course angle of the AUV; the navigation direction of the AUV is planned based on the position and the opening direction of the docking dock, the AUV navigates according to the navigation direction for docking, and the step of sending the docking request signal to the docking dock continues to be executed until the docking is completed.
本申请涉及一种水下接驳方法、装置、电子设备及存储介质,其中,该方法包括:向接驳坞发送接驳请求信号,以使接驳坞响应于接驳请求信号,通过第二USBL基阵确定第一方位角,并将携带第一方位角的应答信号发送至AUV;接收应答信号,获取应答信号中的第一方位角,并通过第一USBL基阵确定第一距离和第二方位角;获取AUV的航向角和大地坐标;基于AUV的大地坐标、AUV的航向角、第二方位角和第一距离确定接驳坞的位置;基于第一方位角、第二方位角和AUV的航向角确定接驳坞的开口方向;基于接驳坞的位置和开口方向规划AUV的航行方向,按照航行方向航行进行接驳,并继续执行向接驳坞发送接驳请求信号的步骤直至接驳完成。
Underwater connection method and device, electronic equipment and storage medium
一种水下接驳方法、装置、电子设备及存储介质
2023-06-23
Patent
Elektronische Ressource
Chinesisch
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