Unmanned ship navigational speed and navigational direction control method

A technology of course control and unmanned boat, which is applied in the field of speed and course control of unmanned boat

Inactive Publication Date: 2017-01-11
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

There has never been any unmanned boat speed and course control similar to the method of the present invention in domestic and foreign literature at present.

Method used

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  • Unmanned ship navigational speed and navigational direction control method
  • Unmanned ship navigational speed and navigational direction control method
  • Unmanned ship navigational speed and navigational direction control method

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Embodiment Construction

[0048] The present invention will be described in detail below with reference to the accompanying drawings.

[0049] Step 1. Combining the motion model of the unmanned boat, using the principle of nonlinear Kalman filter, the nonlinear Kalman filter is used to filter out high-frequency interference and obtain the speed and heading information of the unmanned boat.

[0050] The speed and heading information of the optimized unmanned ship estimated by the adaptive nonlinear Kalman filter is sent to the adaptive nonlinear Kalman filter. The filter adopts the adaptive nonlinear Kalman filter algorithm to obtain the predicted value of the speed and course of the unmanned boat at the current moment, combined with the predicted value and measured value of the speed and course information of the unmanned boat at the current moment, the optimal estimation of the speed and course information at the current moment can be obtained value. In the process of updating the speed and course in...

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Abstract

The invention provides an unmanned ship navigational speed and navigational direction control method which includes the steps: 1 filtering out high-frequency interference by the aid of a motion model of an unmanned ship and an adaptive non-linear Kalman filter to obtain navigational speed and navigational direction information of the unmanned ship; 2 comparing the obtained position information of the unmanned ship and expected position information to obtain deviation information; 3 transmitting the deviation information into a neural network PID (proportion integration differentiation) controller, and controlling a thrust device of the unmanned ship by output of the neural network PID controller. The control method can control navigational speeds and navigational directions of the unmanned ship in complicated marine environments.

Description

technical field [0001] The invention relates to a dynamic control method of an unmanned boat, in particular to a speed and course control method of an unmanned boat. Background technique [0002] The unmanned boat is a small surface sports platform that can navigate autonomously in the ocean environment and complete various tasks. According to the requirements of the completed tasks, the unmanned vehicle can adopt different modules, install different sensors and actuators, and its designated tasks are also diverse. [0003] At present, people are paying more and more attention to unmanned vehicles, and their motion control in the ocean is becoming more and more important. When an unmanned boat performs certain operations in the ocean, it usually needs to control its speed and course. Due to the complex and changeable marine environment, it is necessary to conduct in-depth research on the speed and course control of unmanned vehicles under the action of changing marine envi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 王元慧包澄澄丁福光赵大威张放葛然
Owner HARBIN ENG UNIV
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