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Autonomous navigation method and device for unmanned ship
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An autonomous navigation, unmanned ship technology, applied in the field of unmanned navigation
Active Publication Date: 2015-12-23
深圳中智卫安机器人技术有限公司
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[0004] The purpose of the present invention is to propose an autonomous navigation method and device for unmanned ships, which can conduct more accurate navigation for unmanned ships, and adopt different predictive correction navigation methods for straight line segments and curved segments, so as to solve the problem of artificial remote control or positioning errors Factors causing problems with S-curve motion
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Embodiment 1
[0067] figure 1 It is a flow chart of an autonomous navigation method for an unmanned ship provided in Embodiment 1 of the present invention.
[0068] A method for autonomous navigation of an unmanned ship, comprising:
[0069] S10. Preset the running track of the unmanned ship, collect the original coordinates on the running track of the unmanned ship, and obtain at least two first-level reference point coordinates through the original coordinates;
[0070] S20. Obtain the current position coordinates of the unmanned ship, and judge whether the unmanned ship deviates from a preset running track according to the current position coordinates;
[0071] S30. If the unmanned ship does not deviate from the preset running track, use the Kalman filter to predict the coordinates of the next predicted point;
[0072] S40. Judging whether the deviation between the coordinates of the next predicted point and the coordinates of the corresponding first-level reference point is less than ...
Embodiment 2
[0081] Such as image 3 As shown, in this embodiment, the step S50 includes:
[0082] S51. Mark the coordinates of the first-level reference points preset at each interval as coordinates of the second-level reference points;
[0083] S52. Determine a further running direction of the unmanned ship according to the positional relationship between the current position coordinates, the first-level reference point coordinates, and the second-level reference point coordinates.
[0084] In this embodiment, the primary reference coordinates are marked as C n, , where n is a positive integer, that is, from the first first-level reference coordinate to the n-th first-level reference coordinate can be marked as C 1 …C n .
[0085] Mark the first-level reference point coordinates of each preset number as second-level reference point coordinates, if the preset number is 10, that is, select a first-level reference point coordinate every 10 first-level reference point coordinates as the ...
Embodiment 3
[0106] Such as Image 6 As shown, in this embodiment, the step S10 includes:
[0107] S11. Collecting the original coordinate array on the running track of the unmanned ship at a preset frequency through the ultra-wideband tag;
[0108] In this embodiment, the ultra-wideband tag can send information to the base station 100 times per second, and the three base stations will gather the measured distance information from the tag to the background processor through wifi, and the processor calculates when the tag sends information each time The corresponding coordinate points are stored in the database. In this embodiment, because it is considered to be in a small-scale aquaculture pond, if the GPS positioning has an error of about 10m, it will definitely not work. The UWB positioning accuracy is high, and the centimeter level (can be within 15cm) can meet the requirements of the breeding pond navigation, so UWB positioning technology is preferred for positioning.
[0109] Consi...
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Abstract
The invention provides an autonomous navigation method for an unmanned ship. The autonomous navigation method comprises the following steps: presetting a moving track of the unmanned ship, collecting an original coordinate of the moving track of the unmanned ship and acquiring a primary reference point coordinate through the original coordinate; acquiring a current position coordinate of the unmanned ship and judging if the unmanned ship is deviated from the preset moving track according to the current position; if the unmanned ship is not deviated, predicting the coordinate of the next predicted point by utilizing Kalman filtering; judging if the deviation between the coordinate of the next predicted point and the corresponding primary reference point coordinate is less than a preset first threshold value; if yes, navigating the unmanned ship toward the coordinate of the next predicted point; and if not, confirming the further navigating direction of the unmanned ship according to the current position coordinate and the primary reference point coordinate. According to the autonomous navigation method for the unmanned ship provided by the invention, the problem of S-shaped curve motion caused by manual remote control or positioning error is solved, and the unmanned ship can be more accurately navigated. Besides, the invention also provides an autonomous navigation device for the unmanned ship.
Description
technical field [0001] The invention relates to the technical field of unmanned navigation, in particular to an autonomous navigation method and device for an unmanned ship. Background technique [0002] In the field of aquaculture, because the water quality has a great impact on the survival and growth of aquatic organisms, aquaculture farmers are more eager to obtain water quality information, but the traditional fixed-point monitoring method has the problem of incomplete monitoring, and it is necessary to realize multiple monitoring. There are also problems such as requiring manual adjustment, or adding sensor equipment to increase costs. [0003] In the existing technology, there are also small unmanned ships equipped with water quality monitoring sensors to monitor water body information, usually based on GPS positioning and navigation algorithms to achieve autonomous navigation, but this solution is suitable for scenes with large water areas. The area of some aquacu...
Claims
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Application Information
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