Ocean current estimation system and estimation method

Abstract

The invention discloses an ocean current estimation system and an estimation method, and relates to the control field of ocean navigation devices. The ocean current estimation system comprises a signal acquisition unit, a comparing unit, an estimating device, a self-adaptive iteration updating unit and a coordinate transformation unit. The signal acquisition unit is used for acquiring the actual coordinate information and yaw angles of the ocean navigation devices in earth based coordinates and surging speed and swaying speed of the ocean navigation devices under a ship body coordinate system, and then the comparing unit, the estimating device, the self-adaptive iteration updating unit and the coordinate transformation unit carry out processing and operation on data information and then output an estimated value of ocean current sizes and estimated information of ocean current directions. The ocean current estimation system and the estimation method can accurately estimate time varying ocean current information of navigation water areas of oceans in real time, and have important practical significance on improving motion control precision of the ocean navigation devices.

Description

technical field [0001] The invention relates to the field of control of marine vehicles, in particular to an ocean current estimation system and estimation method. Background technique [0002] Marine vehicles generally refer to power devices such as unmanned boats and submarines that sail on water or underwater in the ocean. In the prior art, there are following kinematic models of marine vehicles: [0003] x · ( t ) = u ( t ) cos ( Ψ ( t ) ) ...

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Problems solved by technology

Due to the strong nonlinear, time-varying and difficult to estimate characteristics of ocean currents, it is difficult to directly estimate and measure them accurately with existing identification methods and sensor technologies

[0008] Hegrenaes et al. proposed an ocean current estimation method based on the least squares method, but this method is not conducive to real-time estimation and relies on open-loop maneuverability tests of marine vehicles

Lisbon Polytechnic University Aguiar proposed a current estimator based on a predictor, which has the disadvantage that it can only estimate uniform currents; Harbin Institute of Technology Yang Ying and others proposed a current estimator in three-dimensional space, but this method still has no breakthrough The assumption of uniform ocean current; Shanghai Jiaotong University Ge Hui et al. proposed an ocean current estimation method based on neural network, its disadvantage is that the estimation loop and the control loop are coupled, which limits its practical application

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