Wave glider waypoint tracking method based upper and lower body heading information fusion

Abstract

The invention provides a wave glider waypoint tracking method based upper and lower body heading information fusion. A steering engine of a wave glider is installed in a submerged body. The steering engine is controlled by a main computer for directly controlling the steering of the submerged body. The steering of a floating body can be supported by the drag force of the submerged body. The floating body and the submerged body are provided with a heading sensor respectively for measuring the floating body heading [psi]F and the submerged body heading [psi]G to sent to the main computer. The main computer completes fusion of heading information of the floating body and the submerged body of the wave glider, and corrects the expected course angle combined with the dynamic characteristics in the navigation process so as to complete the waypoint tracking task. The method can effectively avoid the soft chain winding phenomenon which is unique to the structure of the hard-soft multi-system structure of the wave glider and improve the course control performance of the wave glider and the waypoint tracking ability under the external disturbance force such as wind and flow.

Description

technical field [0001] The wave glider waypoint tracking method based on the fusion of upper and lower body heading information is a motion control method for wave glider, which can effectively avoid the unique flexible chain of the rigid-flexible multi-system connection structure of the wave glider without using expensive sensors. The entanglement phenomenon improves the heading control performance of the wave glider and the waypoint tracking ability under external disturbances such as wind and current. Background technique [0002] The wave glider is a new type of unmanned ocean exploration platform. It uses the floating body-umbilical cord-submarine structure to convert ocean wave energy into its own forward power. It can carry out long-term path tracking and position maintenance on the ocean, and can also serve as an intermediate station to exchange instructions and data with other types of detectors, providing new ideas for ocean observation technology and has very broa...

AI Technical Summary

Problems solved by technology

[0004] However, the motion control methods of the above-mentioned wave glider all have a common feature, that is, only the floating body of the wave glider is controlled separately, rather than performing overall motion control based on the fusion of heading information of the wave glider floating body submerged body

There are certain defects in controlling the floating body or submerged body of the wave glider alone: ​​if only the heading of the floating body is controlled, since the steering gear is installed on the submerged body, when the floating body cannot reach the desired heading under the action of external disturbance force, the submerged body part The continuous rudder angle will cause the submersible to continue to rotate and lead to the flexible chain winding phenomenon; if only the heading of the submersible is controlled, there may be a situation where the heading angle of the submersible and the floating body is too different

In addition, under the influence of wind, current and other disturbances, the navigation path of the wave glider will deviate, and the set track point cannot be tracked. To accurately measure wind, current and other environmental disturbances and correct the control method require expensive sensors such as an acoustic Doppler current profiler, which will significantly increase the cost of the wave glider

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