DIGITAL PLATFORM FOR THE CREATION OF DISTRIBUTED CONTROL AND NAVIGATION SYSTEMS FOR UNDERWATER VEHICLES
Abstract
The paper proposes the architecture of a digital platform for the implementation of distributed control and navigation systems of underwater vehicles (UV), that perform technological operations in an uncertain environment. The proposed digital platform is designed to automate the following activities: monitoring the state of underwater infrastructure objects (communication lines, pipelines, mining equipment, etc.), cartographic and geodesic works, determining the parameters and boundaries of physical fields, zones of distribution of chemical compounds (pollution zones) and bioresources, protection of underwater and surface infrastructure objects (underwater mariculture farms, borders of water reserves, etc.), tracking moving objects, searching for objects of a given type (biological, man-made, etc.), performing underwater technological operations (welding, cutting, cleaning, etc.). For this platform, a command system has been developed that provides flexible assignment of various types and purposes of UV missions. There are five types of digital platform messages: mission order management commands, mission load management commands, information messages, mission and group control commands. The concept of building distributed control systems of the UV is proposed, which ensures the compatibility of existing onboard UV systems with the proposed solution based on the combined hydroacoustic systems of global hydroacoustic navigation developed in PAO "Dalpribor" (Vladivostok). These control systems consist of two main parts. The first part is the initial on-board information and control system of the UV, which ensures its movement to a given point in space at a given speed, receiving data from on-board sensors, as well as controlling the operation of on-board equipment. The second part – the high level control system, provides the possibility of interaction of the control system through an acoustic communication channel with the global hydro-acoustic navigation system and the operator's automated workplace. Simulation of the data transfer in CoppeliaSim between the operator and the UV within the proposed digital platform have shown that reliable mission loading and receiving information about the state of the UV is provided at different speeds and under different operating conditions of the acoustic communication channel.
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