Under-actuated unmanned ship formation structure based on model ships

Abstract

The invention provides an under-actuated unmanned ship formation structure based on model ships. The structure comprises the multiple model ships that are arranged in a simulated navigation channel, and the simulated navigation channel includes simulated environment factors; one model ship serves as a master ship, and other model ships serve as slavery ships; the master ship is provided with a master ship simulation control system, the slavery ships are provided with a slavery ship simulation control system, the shore base is provided with a positioning information monitoring system, and the master ship simulation control system, the slavery ship simulation control system and the positioning information monitoring system are connected via network; and the positioning information monitoring system comprises a shore-based camera and a computer, the shore-based camera is used to capture marker lamps on the model ships and thus carry out image identification positioning on all the model ships, and the computer is used to identify and process images collected by the shore-based camera and obtain positioning information of the master and slavery ships. According to the invention, the difficulty and cost of large ship formation experiments are reduced, an instance is provided for operation and control of the large ship formation, and important guarantee is provided for tasks of safe ship formation navigation.

Description

technical field [0001] The invention relates to the technical field of ship navigation control, in particular to an underactuated unmanned ship formation structure based on a model ship. Background technique [0002] Maritime activities are becoming more and more busy, and the increase in ship transportation volume has led to an increase in the demand for ships. How to safely and efficiently carry out cargo transportation or maritime surveys has become the focus of research in the shipping field. With the improvement of ship intelligence, unmanned ships with high efficiency and reduced labor costs will become the direction of future ship development. In addition, in the process of modern ship operation, it is difficult or inefficient for a single ship to complete complex tasks such as maritime detection and reconnaissance. Therefore, ship formations have certain application requirements in both military and civilian fields. Ship formation refers to the formation of ships to...

AI Technical Summary

Problems solved by technology

The formation navigation process involves complex data processing, fusion, optimization, artificial intelligence and other issues. At present, there are many related theoretical studies, but there are few actual ship experiments, and further research is urgently needed

Since the real experiment is restricted by objective conditions, it will cost a lot to study the theory and technology related to ship formation navigation, and the experiment may fail or even be dangerous due to lack of understanding of the ship or other uncertain factors during the experimental verification process.

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