59results about How to "Improve navigation efficiency" patented technology

The invention relates to a wall-climbing robot positioning system and method based on a space structure circular descriptor. A depth image sensor (RGB-D) camera outputs a depth image; collecting three-dimensional point cloud data of three-dimensional space wall surface points; and conformally mapping the contour of the wall-climbing robot to a minimum bounding ball (MBS). A space structure circular descriptor (SSCD) algorithm module maps the three-dimensional point cloud data to a two-dimensional positioning navigation plane, and an SSCD image is formed on the two-dimensional positioning navigation plane; and point cloud features of the SSCD images from the k-1 moment to the k moment are matched, and positioning of the wall-climbing robot on the three-dimensional space wall surface at the current moment is completed. An airborne inertial measurement unit (IMU) measurement module acquires the angular velocity and acceleration of the wall-climbing robot; the attitude information of the wall-climbing robot at the current moment is obtained by carrying out pre-integration on the collected angular velocity and acceleration. Therefore, three-dimensional data are mapped to a two-dimensional plane through a space structure circular descriptor (SSCD) algorithm, and the wall-climbing robot is accurately positioned and navigated.

The invention relates to the technical field of satellite communication, and discloses a communication method and system for a long-voyage ship based on L frequency band communication, and the method comprises the steps: recognizing the navigation environment and communication demands of the long-voyage ship, recognizing the satellite signals of the long-voyage ship and a communication end through recognizing the frequency band characteristics of a communication frequency band, and carrying out the communication of the long-voyage ship; a signal tracking network of satellite signals is set, signal parameters of the satellite signals are monitored in real time according to the signal tracking network, a quality feedback mechanism of the signal parameters is set, the current signal quality grade is identified, and the signal quality requirements of the long-voyage ship and the communication end are identified based on the current signal quality grade; the method comprises the following steps: setting a multi-beam switching mechanism pointing to beams and a signal locking network of satellite signals, setting a confidential path for transmitting data, and generating a communication result of a long-voyage ship and a communication end in combination with the multi-beam switching mechanism, the signal locking network and the confidential path; according to the invention, the stability and safety of signal transmission can be enhanced, and the communication quality of the long-voyage ship is improved.

The invention discloses an outdoor double-wheel-foot robot path planning method based on an improved crown porcupine optimization algorithm, and the method comprises the steps: S1, enabling a user to activate a double-wheel-foot robot through a terminal instruction, stabilizing a camera, adjusting the camera to a working state, and guaranteeing the stable operation of a sensor and an actuator, creating a grid map of the environment by taking a target needing to be detected as an end point and self coordinates as a starting point; s2, a crown porcupine optimization algorithm is improved; and S3, inputting the path grid map created in the S1 into an improved crown porcupine optimization algorithm, and outputting an optimal path. The method can be more effectively applied to path planning of the double-wheel-foot robot, and navigation efficiency and safety of the robot in a complex environment are improved.

The invention discloses a construction process construction method based on ship construction process management, and relates to the technical field of ship construction. In order to solve the problems that in the prior art, establishment of a product structure tree and a process structure tree cannot provide a visual and effective ship building process for users and process construction personnel, and the accuracy and reliability of data are low. The construction process construction method comprises the following steps that 1, a ship construction scheme is determined; step 2, constructing a ship construction process; step 3, optimizing a construction process; 4, monitoring the construction process in real time; by establishing a ship three-dimensional model, carrying out stress analysis and structure optimization on the model, unnecessary material use is reduced, so that the construction cost is reduced, the weight of a ship body is reduced, the navigation efficiency is improved, potential problems and risks can be found and solved in advance by simulating the ship construction process, delay and accidents in the actual construction process are reduced, and the ship construction efficiency is improved. And the construction efficiency and the safety are improved.

The invention discloses a space surveying and mapping calibration method and system based on synchronous positioning drawing, and relates to the technical field of space surveying and mapping, the space surveying and mapping calibration method based on synchronous positioning drawing comprises the following steps: obtaining environment characteristic data; identifying a space environment and a key landmark; based on a stereoscopic vision technology, obtaining a space environment map according to the identified space environment and the key landmarks; adjusting the motion track of the detection equipment in the space environment by using an optimization algorithm; and calibrating the space environment map. The dynamic change in the space environment is monitored in real time, and the influence of the change on the map is evaluated, so that the environment change can be automatically judged and dealt with, the map is ensured to be always kept in the latest state, the space environment map can be automatically calibrated and updated, the need of manual intervention is reduced, and the working efficiency is improved. And the efficiency and timeliness of map maintenance are improved.

The invention discloses an adaptive planner parameter tuning method and device based on reinforcement learning, and the method comprises the steps: employing a reinforcement learning algorithm to adaptively carry out the parameter adjustment of a local planner according to the input environment data in a parameter adjustment network under a low-frequency control frequency; under the medium-frequency control frequency, generating a planning track of robot advancing according to the adjusted parameters in the local planner, and generating a feed-forward speed according to the planning track; under the high-frequency control frequency, a final control instruction is generated in the controller according to the feed-forward speed and the feedback speed calculated by the error compensator; and iteratively and alternately training and testing the parameter adjustment network and the controller, and continuously adjusting and optimizing the parameters of the local planner and a final control instruction generated by the controller according to a test result. According to the invention, the robustness and navigation efficiency of the system can be improved, the tracking error is effectively reduced, the obstacle avoidance capability is enhanced, and a more accurate, efficient and reliable robot navigation task can be completed in a complex environment.

The invention discloses a meteorological anemorumbometer trajectory system based on remote Beidou data, and relates to the technical field of meteorological monitoring, and the meteorological anemorumbometer trajectory system comprises an acquisition module which is used for obtaining measurement information of wind speed and wind direction; the acquisition module further comprises an optimization unit, the optimization unit is used for performing compensation calculation on the measurement error of the acquisition module, and the wind speed Q and the wind direction angle W in the current time period are adjusted by using the compensation obtained by calculation to obtain a more accurate measurement value; a navigator can be helped to make better navigation decisions, such as route planning, navigational speed adjustment and avoidance of severe weather conditions; for a ship pushed by wind power, the angle of the sail and the dynamic performance of the ship can be optimized through accurate wind speed and wind direction data, and the sailing efficiency is improved; in marine meteorology and climate research, accurate wind speed and wind direction data is the basis, and a compensation algorithm can improve the quality of research data and support more accurate scientific analysis.

The invention belongs to the technical field of underwater detection and underwater acoustic engineering, and particularly discloses a conformal self-contained underwater acoustic beacon which comprises an acoustic beacon shell, the acoustic beacon shell comprises a wedge-shaped conformal body and a cylindrical carrier, the bottom of the wedge-shaped conformal body is attached to the cylindrical carrier, and the top of the wedge-shaped conformal body is an inclined cambered surface; a transducer and a signal processing module are mounted at the top of the wedge-shaped conformal body; a power supply module is arranged in the cylindrical carrier, and the signal processing unit is connected with the power supply module and the transducer respectively; an end cover is arranged at the end of the cylindrical carrier, and a water entry detection module is integrated in the end cover. According to the invention, the acoustic beacon shell is divided into the wedge-shaped conformal body and the cylindrical carrier, and the top of the wedge-shaped conformal body is an inclined cambered surface, so that the surface space of the UUV is utilized to the greatest extent, the overall size and weight are reduced, the acoustic beacon can be better integrated into the streamline design of the UUV, the resistance during underwater movement is reduced, and the navigation efficiency is improved.

The invention relates to the technical field of self-flow dredging at the bottom of a ship lock, and particularly discloses a river channel ship lock anti-silting device and a using method thereof.The river channel ship lock anti-silting device is characterized in that a lock chamber is formed between an upstream gate and a downstream gate, communicating vessels are arranged at the bottoms of the upstream gate and the downstream gate, and a plurality of communicating vessel turbulent flow mechanisms are arranged between channels of the communicating vessels and an upstream channel; the communicating vessel turbulent flow mechanism is provided with a pipeline for connecting the channel and the upstream channel; a plurality of lock chamber turbulent flow mechanisms are mounted at the bottom of the lock chamber at the outlet of the channel of the communicating vessel, each lock chamber turbulent flow mechanism is provided with a turbulent flow cylinder and an inclined base, the inclined bases are fixedly mounted at the bottom of the lock chamber, the turbulent flow cylinders are fixedly mounted on the inclined bases, and the turbulent flow cylinders discharge water entering from the channel of the communicating vessel into the lock chamber; the turbulent flow structure of the lock chamber and the turbulent flow structure of the communicating vessel are adopted, sediment deposition at the bottom of the lock chamber and the bottom of the communicating vessel is avoided, the service life of the communicating vessel is prolonged, the maintenance cost of the communicating vessel and the lock chamber is reduced, and the navigation efficiency of a channel ship is improved.

According to the on-line monitoring system for the ship engine supply and post-processing system, the monitoring module and the evaluation and decision-making module are integrated, through intelligent monitoring and fault diagnosis, the running state of an ammonia fuel supply and auxiliary system can be monitored in real time, potential safety hazards can be found in time, the running safety of a ship is guaranteed, and the service life of the ship is prolonged. And the evaluation and decision module can provide suggestions for optimizing the operation scheme by analyzing the operation data, so that sailors are helped to better manage and maintain the system, and the navigation efficiency of the ship is improved. On the whole, the monitoring module achieves comprehensive and real-time monitoring of the system, the assessment and decision module accurately locates fault positions and causes, a targeted maintenance scheme is provided for maintenance personnel, and therefore the maintenance time is shortened, and the maintenance cost is reduced.

The invention belongs to the technical field of mobile robot navigation, and particularly relates to a mobile robot mixed path optimization method in a complex dynamic environment, which comprises the following steps: firstly, a system calculates a steering angle and a moving speed vector of a robot based on a fuzzy control algorithm according to a target point direction and an obstacle distance; and then, detecting whether the robot is caught in an unknown deadlock area or not through a weighted average speed # imgabs0 #, and completing a navigation task. According to the method, real-time path adjustment based on the target direction and the obstacle distance is achieved by introducing the fuzzy control algorithm, the adaptive capacity to the dynamic environment is improved, the deadlock area is dynamically stored and efficiently inquired by constructing the quadtree data structure, the robot can rapidly recognize and avoid the known deadlock area, and therefore the robot can rapidly recognize and avoid the deadlock area. And meanwhile, an unknown deadlock area is identified by utilizing a speed-based detection method, and automatic deadlock removal is realized through an adjustment strategy, so that the dependence on environmental information is reduced, and the robustness and navigation efficiency of the system are remarkably improved.

The present invention discloses a multi-autonomous underwater robot navigation method based on embodied intelligence in a non-communication environment, comprising: step 1: each autonomous underwater robot obtains multi-modal local environmental information through the sensor carried by itself; step 2: fusion of multi-modal local environmental information; step 3: extracting environmental feature values ​​and feature values ​​of adjacent autonomous underwater robots; step 4: learning environmental feature values, understanding the environment, and inferring the motion trajectory of adjacent autonomous underwater robots based on feature values ​​of adjacent autonomous underwater robots; step 5: collaborative relationship learning, generating navigation decisions; step 6: sending the generated navigation decisions to the controller of each autonomous underwater robot for compilation, generating control instructions, and realizing navigation control of the autonomous underwater robot. The present invention introduces embodied intelligence technology, designs a non-communication multi-autonomous underwater robot collaborative navigation scheme, and can realize autonomous underwater robot navigation based on embodied intelligence.

The utility model designs an integrated surveying vessel suitable for offshore topographic survey. The integrated surveying vessel comprises a vessel body, a control system, a power system, an energy system, a positioning system and a measuring system, the hull is of an integrated streamline structure, a rectangular empty box is placed on the upper portion of the tail end of the hull, and a control system, a positioning system and a measuring system are arranged in the rectangular empty box. The power system adopts a double-rotation motor; the energy system adopts solar energy and manual energy charging, battery pack energy devices are evenly arranged in a cavity in the ship body, and a solar panel structure is laid on the upper portion of the ship body. The positioning system adopts a wireless electric positioning device; the measuring system comprises a beacon GNSS, a double-frequency GNSS, a single-beam depth finder, a sound velocity profiler, a depth finder transducer host and a transducer. According to the scheme, remote monitoring and automatic adjustment can be achieved through the integrated surveying vessel, and the accuracy and efficiency of measurement are improved.

The invention relates to a distributed intelligent rice transplanter cluster navigation method based on deep reinforcement learning and speed obstacles, which comprises the following steps: acquiring a reciprocal speed obstacle and a speed obstacle vector, inputting the reciprocal speed obstacle and the speed obstacle vector into a BiLTSM network model, and acquiring an environment perception vector; the BiLTSM network model is obtained through training of a training set; and combining the environment perception vector with an ontology perception measurement value to generate an observation space, and setting a reward function for iteratively updating a multi-intelligent-vehicle obstacle avoidance strategy so as to optimize driving control of an individual level in an intelligent vehicle cluster and generate an optimal navigation scheme. The method still faces many challenges in application in the agricultural environment, the defects in the aspects of environment state representation, action mapping and reward design are overcome, and the problem of multi-machine collision avoidance in the complex dynamic environment is effectively solved.

The invention relates to a whole-ship path navigation method and device, computer equipment and a storage medium. The method comprises the following steps: identifying path nodes in a ship three-dimensional space model, constructing a network topological graph based on a connection relationship of the path nodes, traversing the path nodes in the network topological graph, identifying a shortest path between any two path nodes, generating a shortest path tree according to the path nodes on the shortest path, and obtaining a shortest path between any two path nodes according to the shortest path tree. The shortest path from the starting point to the target point can be obtained in a bidirectional fan-shaped search mode during navigation, the shortest path node is output, shortest path navigation is achieved, and navigation efficiency and safety are improved.

The invention discloses a method and system for constructing a digital human system for ship equipment, and relates to the technical field of ship equipment. The method comprises: collecting real-time data of a ship power system, a navigation system, a propulsion system, a steering gear system, a power supply system, a life-saving equipment system, a gas detection system, an oil mist concentration detection system, and a temperature monitoring system to obtain equipment-level data; sensing the ship's embodied environment based on screened key equipment indicator data according to a real-time online monitoring system for the marine environment and an intelligent shipping embodied large model to obtain the ship's embodied environment conditions; based on the sensed ship's embodied environment conditions, calling a ship equipment interface to obtain real-time ship navigation reference data; establishing a navigation digital twin model according to the real-time ship navigation reference data; simulating and predicting the behavior of ship equipment using the established navigation digital twin model, and establishing a fault diagnosis system and a health management system.

The present invention proposes a method for indoor navigation of a robot, the method comprising: obtaining indoor environment information and obstacle information through sensors; classifying the obstacle information; formulating a coping strategy for each obstacle according to the classification results of the obstacles; the robot performs path planning on an established environment map according to a current position, a target position, the obstacle information and the coping strategy; the robot moves along the planned path, senses changes in the environment in real time, and dynamically adjusts the path according to new environmental information. Through this method, the robot can obtain and process surrounding environment information in a timely manner, the robot can perform more intelligent and optimized path planning, thereby providing more accurate navigation and obstacle avoidance, and improving navigation efficiency; by identifying obstacle types and selecting appropriate obstacle avoidance strategies, the robot can avoid collisions with obstacles, thereby improving navigation safety.

The invention provides a robot navigation method and device based on edge and cloud cooperative computing. The method comprises the following steps: acquiring real-time environment sensing data through a body sensor of the robot; executing real-time positioning and map construction, and generating a local obstacle avoidance instruction; generating a task unloading decision according to the task division strategy, the current network state and the server resource state; and fusing the optimized global map, the long-term trajectory prediction result and the local obstacle avoidance instruction to generate a global comprehensive navigation strategy of the robot. According to the method, robot navigation tasks are intelligently divided and dynamically unloaded through an innovative edge and cloud cooperative computing framework, the low delay of the edge side and the powerful computing power of the cloud are fully utilized, and the core bottleneck that the computing power of a robot body is limited can be effectively solved. The overall delay of the navigation system is obviously reduced, and the navigation efficiency, safety and intelligent level in a large complex scene are improved.

The utility model provides a seat cushion formula hollow fishing boat, this seat cushion formula hollow fishing boat includes pneumatic boat hull, the pneumatic boat hull includes the ship side buoy, the ship side buoy is O type, be provided with the ship bottom plate in the ship side buoy, the length of ship bottom plate is less than the length of ship side buoy thereby forms hollow bottom in the ship side buoy. The utility model provides a seat cushion formula hollow fishing boat, greatly promotes the stability of ship body, reduces the risk of rollover, enhances the ability of ship body anti -rollover. When the ship body has the tendency of lateral tilting, the underwater foot can receive the " resistance counter -thrust" of water body, offsets part lateral tilting moment, avoids the excessive inclination of ship body even rollover. And the draught of ship body is far lower than the fully enclosed ship body, is not easy because of the ship bottom touches the bottom or the water flow impact ship side causes to sway, simultaneously, the foot is in water and can directly perceive the water bottom topography, indirectly supplementary adjustment ship body position, further promotes the stability.

The invention discloses a marine empennage, which relates to the technical field of ships, and comprises a ship shell of a wave-shaped flat bottom structure, and the upper end of the ship shell is fixedly connected with a deck used for covering the space in a ship and horizontally dividing the space into layers; the side, close to a deck, of the hull is fixedly connected with a cabin used for storing materials and allowing sailors to work and live, the outer wall of the side, away from the cabin, of the hull is fixedly connected with an empennage plate body used for keeping course stability and providing rotation or trim adjusting capacity, and dynamic wingspan expansion mechanisms are arranged on the two sides of the upper end of the empennage plate body. An arc wing guide swing mechanism is arranged at the center of the upper end of the empennage plate body, a trapping screen wing mechanism is arranged on one side of the tail end of the empennage plate body, plate wings and an electric telescopic rod are matched with each other, and the stress area of the empennage can be increased by improving the sailing performance and expanding the wingspan; therefore, larger lift force is generated under the condition of the same wind speed or water flow.

The invention relates to the field of ship lock navigation, and discloses a two-stage dispersed stepped ship lock water delivery arrangement and water storage channel water level control method, which comprises an open type water-saving pool, a water storage channel, a water supplementing pool and an overflow pool, and is characterized in that the water filling and drainage process is controlled through the water head difference between the graded water-saving pool and a lock chamber, and the ship lock operation water head is reduced; the water storage channel is used for storing and transporting water, water heads of the ship lock and the middle channel are lowered, water entering and exiting from the middle channel are reduced, and navigation water flow conditions in the middle channel are guaranteed; water supplementing and overflowing control of the water storage channel is based on real-time water level monitoring, and when the upstream and downstream water levels and the water level of the middle channel are not balanced, dynamic adjustment is conducted through the water supplementing pool and the overflowing pool to keep the water level of the middle channel constant, and safe passing of ships is guaranteed. The cascade ship lock effectively reduces the running water head of the ship lock, greatly reduces water entering and exiting from a middle channel, has a water-saving function, realizes efficient utilization of water resources, and is suitable for a cascade ship lock system with a large water head difference.

The embodiments of the present application disclose a voice navigation method, device, electronic device, storage medium and program product. The method is applied to a voice navigation system, which includes a state machine, which includes multiple navigation states and transfer relationships between different navigation states. The voice navigation method specifically includes: identifying a first navigation intention corresponding to an input first navigation voice; determining a target navigation state that matches the first navigation intention from the navigation state of the state machine, and executing a first navigation state transfer process with the target navigation state as the starting state to obtain voice navigation information corresponding to the first navigation intention. The voice navigation method disclosed in the present application utilizes a state machine in combination with voice navigation technology to perform process-based navigation processing on the navigation intention corresponding to the input navigation voice, so that the navigation processing process is clearly structured and the navigation efficiency of voice navigation is improved.

The application relates to the technical field of computer vision, and provides a high-stability virtual object position display method and device. In a mapping stage, the object structure of a virtual scene is acquired, and an exception handling boundary is established; in the exception handling boundary, a virtual object in the virtual scene is regarded as a general engine object, coordinate data corresponding to the general engine object is acquired based on the object structure, and a path graph is drawn according to the coordinate data; the running state of a data processing process in the exception handling boundary is monitored, if running exception is detected in any processing period, the exception data corresponding to the running exception is discarded; in a virtual scene running stage, the position information of the virtual object is acquired in the exception handling boundary, the position information is matched with the path graph, the relative position of the virtual object in the path graph is determined, and the relative position of the virtual object in the path graph is displayed. Runtime exceptions in memory reading or drawing processes are effectively intercepted and isolated.

The invention discloses a ship traffic flow coordination method and system based on model prediction control, and the method comprises the following steps: building a state prediction model, obtaining the real-time navigation states of a ship and an opposite ship, and predicting the navigation states of the ship and the opposite ship in a plurality of time steps in the future according to the real-time navigation states; the meeting point and the meeting moment of the ship and the opposite ship are calculated according to the predicted sailing state, and an optimization function is established with the ship sailing time and fuel consumption minimization of the ship as the target; the constraint condition of the optimization function is set, so that the meeting point is located outside the dangerous water area, the meeting moment is located outside a dangerous time window, and the dangerous time window is the time period when the opposite ship travels in the dangerous water area; solving the optimization function to obtain the optimal control parameter of the ship, and updating the sailing state of the ship in the next time step according to the optimal control parameter; and repeating the steps until the ship arrives at the destination.

The present invention discloses a method for predicting and warning ship encounters in an inland river hub section, comprising: extracting, filtering and fusion processing of historical route data: mining historical tracks: using the data after fusion processing in step 1 to obtain a historical route set; track matching: acquiring real-time dynamic data of ships and waterway operation-related data, and finding a route track that best matches the current real-time ship track from the historical route set; calculating the ship's navigation track for a period of time in the future; track prediction optimization: caching the predicted navigation track, and using an iterative algorithm to continuously optimize the estimated arrival time of subsequent waypoints; encounter recognition: performing spatial segmentation based on the predicted track, and when the segmented area encounters the predicted track of other ships, estimating the area, ship and corresponding time of encounter, and performing encounter and warning prompts; combining video monitoring with multi-source data, the early warning of key areas is more reliable, and the navigation safety of inland river hub ships and the navigation efficiency of waterways are improved.

The invention relates to the technical field of underwater robots, in particular to a modular underwater robot stability adjusting system and an adjusting method thereof, which can realize stable navigation of an underwater robot in a complex environment and improve the working efficiency and safety of the underwater robot. According to the system, a modular design concept is adopted, the system can be easily integrated into underwater vehicles of various shapes and sizes, the application range of equipment is greatly expanded, and a suitable application scene can be found from scientific research to commercial development; the stability and maneuverability of the underwater robot in various working environments can be achieved by accurately adjusting the balance weight and the telescopic fixing fins, and the safety and efficiency of underwater operation are ensured. In conclusion, the system achieves balance weight parameter adjustment of the underwater robot, the balance weight parameter adjustment comprises the heavy buoyancy relation, the heavy buoyancy center relation and the lift force, the balance attack angle and the balance rudder angle are reduced, the straight moving resistance of the underwater robot is reduced, and better stability and maneuverability are achieved.

The present invention relates to a fast-navigable ship lift without docking and a working method thereof, wherein a hydraulic lifting mechanism and a counterweight mechanism are both installed on the top of a tower column, and both are connected to a lifting platform; tower column tracks are evenly distributed on the inner sides of the tower columns on all sides, and a guide mechanism is evenly distributed and installed on all sides of the lifting platform, and the guide mechanism and the tower column tracks work in coordination, and the lifting platform rises or falls along the tower column tracks under the action of the hydraulic lifting mechanism; a sealing device is arranged around the lifting platform, and the sealing device enables the lifting platform to divide the space surrounded by the tower columns on all sides into two upper and lower parts: an upper lock chamber and a lower lock chamber, wherein the upper lock chamber contains water, and the lower lock chamber is connected to the atmosphere. The present application eliminates the mechanical docking process between the ship carriage and the lock head of a traditional ship lift, and utilizes the up and down operation of the lifting platform to realize the raising and lowering of the water level in the lock chamber, thereby realizing direct docking with the water body, greatly simplifying the control process of the traditional ship lift and improving the navigation efficiency.

The invention discloses an automatic control method for ship running. The method comprises a distance monitoring method and / or a fleet marshalling control method in an automatic berth state. When it is detected that the ship enters the berthing state, the offshore distance of the ship in the future time period is predicted through a distance monitoring method; and when it is detected that the ship is in the fleet marshalling navigation state, the driving state of the ship is controlled through a fleet marshalling control method. The method has the advantages that the berthing state of the ship can be monitored, the distance between the ship and the shoreside in a period of time in the future can be predicted, the course and the speed can be conveniently adjusted according to prediction, and therefore the requirement for the berthing state of the ship under automatic or manual control is met.

The present application proposes a method, device, equipment and storage medium for jungle training navigation, the method comprising: using a drone to draw a map of the training area, pre-processing the data to remove noise, and then importing it into the command system, training server and helmet display. The command system personnel plan the path on the three-dimensional map and synchronize it to the training personnel's helmet display. The training personnel draw or mark the map based on the on-site feedback, and the command system adjusts the path accordingly. The server automatically evaluates the accessibility of the path and divides it into accessible, unreachable or to be explored. The present application significantly improves the efficiency and safety of jungle training navigation through precise planning and real-time feedback.

The present invention proposes a closed-loop automatic control system and method for ship speed. Feedback information is obtained by detecting a feedback module, and a final effective main engine speed command is generated through an outer-loop control module, so as to realize the conversion of outer-loop ship speed control into middle-loop main engine speed control. The main engine speed command is compared with the main engine speed n to obtain the speed deviation through the middle-loop control module, and a final effective main engine throttle command is generated, so as to realize the conversion of middle-loop main engine speed control into inner-loop throttle control. The throttle deviation between the main engine throttle command and the throttle feedback signal L is generated into an optimized throttle opening S through the inner-loop control module. The throttle closed-loop adjustment is completed, so as to realize the closed-loop automatic control of ship speed, so that the ship's navigation is gradually stable, the operation is safe, and the navigation efficiency is improved, so as to meet the requirements of stable, efficient, safe and reliable navigation of the ship.