A random traceability tracking control method and system for sea surface oil spill

Abstract

The invention provides a random traceablity tracing control method and system of littoral oil-spills and relates to the field of unmanned ship control. The random traceablity tracing control method mainly comprises the following steps that 1, an unmanned ship carries a sensor, acquires sensing data from oil slick on the sea, processes the sensing data, and obtains oil-spill model parameters and movement model parameters; 2, according to the oil-spill model parameters and the movement model parameters, calculation is conducted to obtain a kinematics control rate of the unmanned ship; 3, based on a feedback linearization method, the kinematics control rate of the unmanned ship is processed to obtain a dynamic control rate of the unmanned ship, then searching data of the unmanned ship is obtained, and therefore the unmanned ship is driven to search for littoral oil-spill sources. The random traceablity tracing control method and system of littoral oil-spills have real-time performance, self-adaptability and robustness, and achieves rapid random traceablity for the macrozone littoral oil-spill diffusion sources by the unmanned ship.

Description

technical field [0001] The invention relates to the field of unmanned ship control, in particular to a random traceability tracking control method and system for sea surface oil spills. Background technique [0002] Unmanned ship technology is a high-tech integrated with computer, cybernetics, structural science, information and sensing technology, artificial intelligence, bionics and other disciplines. At present, research on unmanned ships is very active and is being increasingly applied to a wide range of technical fields. Unmanned vessel technology has received increasing attention from both academia and industry because of its applications involving oil spill monitoring at sea. [0003] There are three existing methods for offshore oil spill monitoring: methods based on map construction, methods based on oil spill behavior and methods based on control. Traditional control-based traceability and tracking control methods mostly use the method of gradient ascent. Howeve...

AI Technical Summary

Problems solved by technology

However, it is often difficult to obtain accurate model parameters in the traceability control method that only considers gradient ascent

At the same time, relying solely on the gradient ascent method, the search range is limited in the traceability process, and the tracking speed and accuracy are difficult to guarantee

In particular, there are serious model errors for large-scale ocean oil spill tracking

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