Motion Tracking Of AUV Targeting System

Due to its high flexibility and good stability,the underwater submersible vehicle has more and more applications not only in the exploration of marine resources,but also in the marine military.Due to the development of computer technology and structural design,it is moving towards autonomy and intelligence.In this paper,a new type of underwater autonomous submersible based on the four-slurry propulsion is studied in military applications.Because of the good flexibility of the posture of the four-pulsed propulsion mechanism,its research on the tracking and aiming of water-facing sky targets has broad prospects.The text first builds a hardware platform for the aiming system based on a new type of underwater submersible vehicle,and analyzes its force and motion principles.The Raspberry Pi development board is connected to a dedicated camera as a front-end image recognition system to identify and calculate the center point of stationary or moving targets.Fully simulates the aiming of underwater submersibles in the water facing sky targets.Establish a mathematical model of the motion mechanism and camera,and design a double closed-loop PID controller.The deviation between the center point of the target returned by the front-end image recognition system and the center point of the frame image is used as the input of the outer ring of the PID controller,and the output angle is adjusted by the outer ring.The inner ring is responsible for stabilizing this angle so that the center of the target is always at the center of the image.Since the optical axis of the camera coincides with the axis of the motion mechanism,the extension of this axis can aim and track the target.Because the inner loop has higher requirements for the stability and followability of a given angle,the fuzzy control algorithm is used to optimize the inner loop.After simulation comparison test,it is concluded that the optimized controller can reduce the tracking error to a great extent.Based on the hardware platform of the aiming system,the dual closed-loop PID controller optimized by the fuzzy control algorithm is the core idea of software design.The hardware control circuit and algorithm software are designed,and the target tracking experiment is carried out in the indoor environment.The results show that the system has good tracking ability to the target,thus verifying the effectiveness of the system.