Research On Target Location In Underwater Terminal Docking Based On Active Electrolocation

Underwater vehicle is an important tool to explore the ocean and its operation efficiency has been greatly improved by underwater terminal docking technology.One of technical difficulties for underwater terminal docking is to realize the target location and navigation.In this paper,the research of underwater terminal docking target localization based on active electrolocation is presented.By simulating the active electrolocaiton principle of weakly electric fish,an underwater active electrolocation experimental platform is established.On the basis of the study of active electric field response characteristics of docking targets in different materials,an algorithm for underwater terminal docking target localization based on Local Particle Swarm Optimization(LPSO)is designed,whose feasibility and effectiveness are demonstrated both in simulation and real experiment.The main work of this paper is as follows:1.Summarizing the advantages and disadvantages of the underwater terminal docking target positioning method at present.Considering the dark and turbid underwater working environment,an underwater terminal docking target location method based on active electrolocation is proposed.2.With the help of basic electromagnetic field theory,the active electrolocation mechanism of weak electric fish is analyzed,and a simplified model of active electrolocation system composed of electric dipole and receiving electrode is established.Further more,the whole active electrolocation experimental platform is built.3.Two kinds of underwater active electric field response signal data processing methods are proposed,which are time domain parameter extraction method and frequency domain Fast Fourier Transformation with frequency indexing method respectively.As the latter can effectively avoid the interference of external factors and obtain more stable result,it is identified as the data processing method in this system.4.Through the frequency domain data processing method,the underwater active electric field response signal of different material docking targets in 2D space is processed to construct the analysis model.The results show that: 1)active electric field response characteristic 3D images have many extreme values;2)active electric fieldresponse characteristic 3D images of metal docking target,such as aluminum and iron,and insulator docking target like plexiglass have different trends and extreme value distribution.5.In order to realize the function of terminal docking target positioning of the system,according to the research of active electric field response characteristics,docking target location algorithm of underwater active electric field based on LPSO is designed.The feasibility and validity of the algorithm are proved by simulation and physical experiment.Finally,the system function is successfully completed,and underwater docking task is also realized in 3D space.