Cruising path planning system and method for unmanned surface vehicle in limited area

Abstract

The invention discloses a cruising path planning system and method for an unmanned surface vehicle in a limited area, the cruising path planning system comprises a data preprocessing unit and a targetinformation searching system, the data preprocessing unit and the target information searching system are connected in two ways, and an input end of the data preprocessing unit is connected with output ends of a radar target track generating module and an AIS (Automatic Identification System) target track generating module. The invention relates to the technical field of maritime control. According to the cruising path planning system and method for the unmanned surface vehicle in the limited area, the optimal association effect is achieved through a dynamically regulated value of a track association part, the data association accuracy is improved on a certain degree, meanwhile, the filter techniqueis used to reduce the influence brought about by the indeterminacy of a model when a radaror an AIS acquires information of an obstacle and an unmanned surface vehicle, the robustness of a filtering algorithm is improved, the estimation speed is increased, and the neural network techniqueis used to approach the model in reality to the greatest extent.

Description

technical field [0001] The invention relates to the technical field of maritime supervision, in particular to a system and method for planning a cruising path of an unmanned surface boat in a limited area. Background technique [0002] The current maritime supervision mode is changing from in-event and post-event supervision to the whole-process supervision mode in advance, during and after the event, and the means of supervision have changed from the traditional "ship cruise and VTS monitoring" to "ship cruise, VTS, electronic cruise" Combined with the transformation of comprehensive cruise means, my country is currently committed to creating a smart maritime province with "on-site mapping, monitoring into the network, data into the chain, strong support, and convenient service", adapting to the new normal of economic development, relying on scientific and technological information technology, and establishing a wide coverage , Deeply interconnected information network, provi...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a limited-area surface unmanned boat cruising path planning system and method, which solves the problem of existing track associations when the traffic environment is relatively complex and there are many track point data to be processed. , it is prone to excessive "de-repetition" phenomenon, and the real track information is lost. At the same time, when obtaining obstacle information and unmanned ship information for radar or AIS, it will bring Inaccurate models, inaccurate noise statistical characteristics, or non-stationary objects, the existing unmanned vehicle track planning system cannot achieve approximation to any nonlinear mapping, and cannot achieve the nonlinear and time-varying mathematical model for the initial alignment of the strapdown system. and uncertainty characteristics, to carry out precise determination of the model for each data purpose problem

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