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Ship sailing aiding and formation commanding method

A ship and track technology, applied in the field of ship track control and auxiliary navigation, and ship formation control, can solve the problems of high nonlinearity of ship motion model, physical environment constraints, poor control effect, etc., and achieve the control method The effect of flexible, highly fault-tolerant and scalable, error-free delivery

Inactive Publication Date: 2013-06-26
INST OF IND TECH GUANGZHOU & CHINESE ACADEMY OF SCI
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] At present, there are two problems in ship formation control. First, most ship formation controllers are designed for precise mathematical models, but in reality, the ship motion model is highly nonlinear and uncertain, which makes the control effect Not good; second, most of the current ship formation controllers adopt a centralized control structure, and implement the control of each formation individual through the main control unit. This control method is easily constrained by the actual physical environment and has poor flexibility

Method used

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  • Ship sailing aiding and formation commanding method
  • Ship sailing aiding and formation commanding method
  • Ship sailing aiding and formation commanding method

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Embodiment

[0025] refer to figure 1 , is a method for ship auxiliary navigation and formation command, which includes the following steps:

[0026] For flagship:

[0027] Z01. The destination and formation type are determined by the flagship commander;

[0028] Z02. Plan the track of each ship in the formation, and give the specified position that each ship arrives at the specified time point in the form of discrete time point sequence pairs:

[0029] ( t ( 0 ) , X t ( 0 ) m ) , ( t ( 1 ) , X t ( 1 ...

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Abstract

The invention discloses a ship sailing aiding and formation commanding method. When a destination and formation type is determined, a flagship plans ships to arriving set positions at set time; each ship treat a water dynamic system as a black box to invert resultant force stressed by the ship along the set sailing trajectory, sailing trajectory of each ship at the next time period is predicted according to current real-time sailing parameters and historical sailing state parameters of the ship, the predicted sailing trajectories, the planned sailing curves and real-time sailing curves are drawn together on a real-time sailing interface map, and the ships are controlled to sail along the predicted sailing trajectories; and real-time positions and real-time sailing parameters of the ships are monitored and used as the historical sailing parameters to feed back to be used for predicting sailing trajectories of the ships, and the real-time saving parameters are drawn into operation vectors tangent to the predicted sailing curves. The ship sailing aiding and formation commanding method uses a distributed control system, is flexible to control, convenient to operate, and has high fault tolerance and extensibility.

Description

technical field [0001] The invention relates to the technical field of ship formation control, in particular to the technical field of ship track control and auxiliary navigation. Background technique [0002] Ship formation sailing can fully obtain effective information of the marine environment, complete complex tasks that are difficult for a single ship, and improve task execution efficiency. Therefore, ship formation control technology has been widely used in cooperative operations between fleets, ocean navigation replenishment, automatic traction operations, environmental monitoring, oil and gas exploration, etc. [0003] Formation control methods can basically be divided into three categories: Leader-follower approach, Virtual structure method and Behavior-based method. There have been developments in formations, ship formations, submarine formations and satellite formations. Due to the inherent nonlinearity, nonholonomic constraints, and time-varying environmental d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418G05D1/02
Inventor 郑瑞芸沈正盛国强续珍立周秋萍丁桦
Owner INST OF IND TECH GUANGZHOU & CHINESE ACADEMY OF SCI
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