Intelligent communication navigation system and method for unmanned boat

Abstract

The invention relates to an intelligent communication navigation system and method for an unmanned boat. The system calculates an actual distance between the unmanned boat and a target boat in real time through an actual distance calculation unit, and compares the actual distance with a preset distance threshold by a distance comparison unit. The heading of the unmanned boat is adjusted to avoid the target boat and achieve safety tracking once the actual distance is less than the preset distance threshold. In the case of less than the distance threshold, further by considering the influence ofthe surrounding wind speed and direction on the speed and direction of the unmanned boat, the situation that the unmanned boat quickly approaches the target boat and causes two boats to collide in the case of excessive wind speed is avoided, or the situation that the unmanned boat deviates from the target boat when the wind speed is too large and the wind direction deviates too far from the unmanned boat is avoided.

Description

technical field [0001] The invention relates to the technical field of aircraft automatic tracking, in particular to an intelligent communication and navigation system and method for unmanned ships. Background technique [0002] Unmanned ship is a kind of unmanned surface ship. Because of its small size, low cost, and convenient operation, it has become a hot spot in the field of unmanned vehicle research and has been valued by marine research in various countries. Cooperative autonomous navigation control is one of the core technologies that distinguish unmanned ships from manned ships. There are two key technologies in the cooperative control method of unmanned ships: [0003] In cooperative navigation, when the unmanned ship is close to the target ship, obstacle avoidance processing is required; when the distance between the unmanned ship and the target ship is greater than the obstacle avoidance distance, conventional navigation and tracking of the target ship is perfor...

AI Technical Summary

Problems solved by technology

[0004] 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

[0005] Invention patent CN 108646766 A discloses an unmanned ship safety tracking method and tracking system based on cooperative control, which can solve the problem of untimely and inaccurate speed control, but it does not take into account the wind speed factor of the unmanned ship's environment in

When encountering a sudden and excessive wind speed in the environment, it may happen that the unmanned ship quickly approaches the target ship due to the influence of the wind speed and direction, causing the two ships to collide, or the unmanned ship quickly deviates from the target ship

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