The invention provides an automatic compensation method for underwater buoyancy of an AUV (Autonomous Underwater Vehicle), which meets the navigation depth control requirement caused by the change of seawater density in the navigation process of the underwater vehicle. Comprising the following steps: step 1, acquiring seawater temperature, salinity and navigation depth data of a current sea area; 2, according to the obtained seawater temperature, salinity and navigation depth data, the seawater density rho1 of the position where the AUV is located is calculated, and meanwhile the current liquid level of an AUV buoyancy adjusting device is collected through a liquid level sensor; 3, calculating the weight M1 of the AUV according to the seawater density rho1 and the volume V of the AUV, and comparing the weight M1 with the initial weight M0 to obtain weight change; 4, after the water amount of the AUV is adjusted, a proper liquid level value H1 is obtained, and the AUV stores the liquid level value to serve as the balance liquid level for depth control during underwater navigation of the AUV.
本发明提出一种AUV水下浮力自动补偿方法,实现了水下航行器航行过程中的因海水密度变化带来的航行深度控制需求。包括以下步骤:步骤一、获取当前海域海水温度、盐度和航行深度数据;步骤二、根据获取的海水温度、盐度和航行深度数据计算AUV所处位置的海水密度ρ1,同时通过液位传感器采集AUV浮力调节装置当前液位;步骤三、根据所述海水密度ρ1,结合AUV的体积V计算AUV的重量M1,并与初始重量M0对比,得出重量变化;步骤四、调节AUV的水量后,得到适合的液位值H1,AUV保存该液位值,作为AUV水下航行时深度控制的平衡液位。
Automatic compensation method for underwater buoyancy of AUV (Autonomous Underwater Vehicle)
一种AUV水下浮力自动补偿方法
2025-02-18
Patent
Electronic Resource
Chinese
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