Unmanned ship safety tracking method based on cooperative control and tracking system

Abstract

The invention relates to an unmanned ship safety tracking method based on cooperative control and a tracking system. The method includes the following steps that an unmanned ship communication moduletransmits a tracking start signal sent by a control center to an unmanned ship data processing module; the unmanned ship data processing module controls the unmanned ship communication module to establish a tracking communication channel between the unmanned ship communication module and a target ship communication module; a target ship positioning module transmits real-time target ship motion parameters to the unmanned ship data processing module through the tracking communication channel; the unmanned ship data processing module performs calculation to obtain an unmanned ship control signalaccording to the target ship motion parameters and the unmanned ship motion parameters sent back by an unmanned ship positioning module and sends the unmanned ship control signal to an unmanned ship remote measurement and control module; the unmanned ship remote measurement and control module adjusts the tracking trajectory of an unmanned ship in real time according to the unmanned ship control signal. The tracking method and the tracking system can achieve an obstacle avoidance function and adjust the shipping speed,the shipping direction and the shipping trajectory in real time.

Description

Technical field [0001] The invention relates to the technical field of automatic tracking of aircraft, in particular to an unmanned ship safety tracking method and a tracking system based on cooperative control. Background technique [0002] The unmanned ship is an unmanned surface ship. Due to its small size, low cost, and convenient operation, it has become a hot spot in the field of unmanned vehicles and has received much attention from ocean research in various countries. Cooperative autonomous navigation control is one of the core technologies that distinguish unmanned ships from manned ships. In the control problem of cooperative autonomous motion, practical and effective control algorithms are the key to the unmanned ship platform to complete complex navigation tasks in various uncertain water surface environments. [0003] There are two key technologies in the collaborative control method of unmanned ships: [0004] First, there are two situations in cooperative navigation:...

AI Technical Summary

Problems solved by technology

[0006] At present, the course control method is to use the traditional PID cooperative control algorithm, and take the course keeping as the automatic control target, so that the ship can automatically follow the given course, or bring the course into the scope of autonomous control, and perform closed-loop control, but it has no effect on the speed control. Timely and involuntary, unable to adjust the speed autonomously in a timely manner, and there is little separate analysis of the obstacle avoidance situation, which can easily lead to untimely and inaccurate control

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