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Method and device for determining robust track guidance law
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A technology for determining the method and track, applied in the direction of ship traffic control, instruments, traffic control systems, etc., can solve the problem of not considering the dynamic characteristics of the ship's heel, achieve easy online calculation, improve seaworthiness and maneuverability, strong real-time effects
Inactive Publication Date: 2018-04-10
HARBIN ENG UNIV
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[0004] The purpose of the present invention is to provide a method and device for determining the robust track guidance law, aiming to solve the technical problem that the calculation of the robust track guidance law in the prior art does not consider the heeling dynamics of the ship
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specific Embodiment 1
[0066] Such as figure 1 As shown, the embodiment of the present invention provides a method for determining a robust track guidance law, including:
[0067] Step S101, generating command track curves according to command beacon points;
[0068] Step S102, judging the current track interval according to the current position of the ship and the command beacon point;
[0069] Step S103, calculating the track deviation of the current track interval according to the command track curve;
[0070] Step S104, according to the track deviation of the current track interval, calculate the command heading angle of the current track interval;
[0071] Step S105, calculating the command heel angle of the current track interval according to the command heading angle of the current track interval;
[0073] Command beacon points are a series of key beacon points set by the ship when sailing on the sea surface, i...
specific Embodiment 2
[0112] Such as image 3 As shown, the embodiment of the present invention provides a device for determining a robust track guidance law, including:
[0113] The track curve generation module 201 is used to generate the command track curve according to the command beacon point;
[0114] The track interval judging module 202 is used to judge the current track interval according to the current position of the ship and the instruction beacon point;
[0115] The track deviation calculation module 203 is used to calculate the track deviation of the current track interval according to the command track curve;
[0116] The command heading angle calculation module 204 is used to calculate the command heading angle of the current track interval according to the track deviation of the current track interval;
[0117] The command heel angle calculation module 205 is used to calculate the command heel angle of the current track interval according to the command heading angle of the curre...
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Abstract
The invention provides a method and a device for determining a robust track guidance law. The method comprises the following steps: generating an instruction track curve according to instruction navigation mark points; judging the current track interval according to the current position of a ship and the instruction navigation mark points; calculating the track error of the current track interval according to the instruction track curve; calculating the instruction heading angle of the current track interval according to the track error of the current track interval; calculating the instruction heeling angle of the current track interval according to the instruction heading angle of the current track interval; and outputting the instruction heading angle and the instruction heeling angle. According to the invention, the heeling dynamics is introduced into the determination of a robust track guidance law, the influence of both heading and heeling on the track of a ship is considered, online computation is facilitated, strong real-time performance is achieved, and the seaworthiness and mobility of the track tracking process are improved.
Description
technical field [0001] The invention relates to the field of data processing, in particular to a method and device for determining a robust track guidance law. Background technique [0002] The purpose of the maneuvering control of the ship is to pursue the economy and safety of the ship's navigation, which require the ship to sail along the precise course and track. For example, when a ship is on a long-distance ocean-going direct voyage, a ship with a better steering controlsystem can maintain its course without frequent steering, and its track is closer to the required straight line. Ships with poor controlsystem performance need to steer frequently to correct the course deviation, and their track is more tortuous, presenting an "S" shape. This increases the actual voyage on the one hand, and on the other hand increases the power consumption of the steering machinery and the propulsion machinery due to the correction of the heading deviation. According to analysis, th...
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