AUV cruise speed estimation method based on self-attention mechanism

The invention provides an AUV cruise speed estimation method based on a self-attention mechanism. The method comprises the following steps: 1, preprocessing collected data; step 2, inputting the data preprocessed in the step 1 into an encoder to obtain a hidden state; 3, taking the hidden state obtained in the step 2 as the input of a self-attention mechanism layer, multiplying an input value by three weight matrixes, calculating the correlation among input vectors according to a result, and normalizing through a Softmax function to obtain the output of the self-attention mechanism layer; 4, taking the output of the self-attention mechanism layer in the step 3 and the convection speed as the input of a decoder, wherein the decoder comprises a full connection layer, and carrying out linear transformation on an input matrix through a linear function to obtain final output; and 5, realizing AUV cruise speed estimation according to the output in the step 4. The invention aims to solve the problem that the convent