Improved UKF algorithm for unmanned ship alignment under severe sea conditions

An unmanned ship and algorithm technology, applied in the field of surveying and mapping, to achieve the effect of balancing the relationship between alignment speed and accuracy, weakening alignment time, and improving accuracy and stability

Active Publication Date: 2020-04-21
SOUTHEAST UNIV
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Problems solved by technology

Using the open-circuit method to construct a mathematically stable platform to isolate the carrier from swinging and achieve rapid alignment, since there is no feedback correction, it is only suitable for purely ideal swinging environments; by finding the zero-speed shaking center, the swing base self-alignment problem is transformed into The static base alignment problem, but t...

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  • Improved UKF algorithm for unmanned ship alignment under severe sea conditions
  • Improved UKF algorithm for unmanned ship alignment under severe sea conditions
  • Improved UKF algorithm for unmanned ship alignment under severe sea conditions

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[0070] In order to verify the effectiveness of the algorithm of the present invention, simulation and half-physical experiments are carried out respectively. In the simulation process, set the simulation time of 600s, and add instantaneous impact interference to the observation every 7s, and add short-term strong interference after 300s. The simulation results show that the alignment accuracy in the horizontal direction can reach 4 arc minutes, and the azimuth alignment accuracy can reach 5 angles points, and the accuracy and stability of the simulation are higher than the UKF algorithm and the conventional single-factor adaptive robust UKF algorithm.

[0071] In the semi-physical experimental verification, the 20s data of the unmanned ship placed on the ground during the start-up process, the process of gradually starting from rest, the interference of human pushes, the vibration of the motor, the irregular shaking of the hull, and the process of ship shaking Uncertain fricti...

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Abstract

The invention discloses an improved UKF algorithm for unmanned ship alignment under severe sea conditions. The improved UKF algorithm re-empowers an innovation vector in a sliding window by using a projection statistical algorithm, realizes real-time estimation of a measurement noise variance matrix, aims at the situation that each observed quantity is inevitably not only affected by single external interference during unmanned ship alignment under severe sea conditions, solves a self-adaptive factor matrix by utilizing a genetic algorithm, and adjusts the measurement noise variance matrix optimally. Compared with the prior art, the improved UKF algorithm has the advantages that compared with a conventional self-adaptive robust UKF algorithm, the improved UKF algorithm achieves optimization of the self-adaptive adjusting capacity, and can improve the precision and stability of unmanned ship alignment under severe sea conditions.

Description

[0001] Field [0002] The invention belongs to the technical field of surveying and mapping, and in particular relates to an improved UKF algorithm for aligning unmanned ships under harsh sea conditions. Background technique [0003] For unmanned ships operating at sea, strong winds and waves are common adverse sea conditions that affect their navigation and normal work, which will cause the ship to sway in six degrees of freedom, among which yaw, roll and pitch have adverse effects on the ship maximum. Before work, the unmanned ship is towed to the sea by the mother ship and released randomly. The uncertainty of this release makes the unmanned ship have a large misalignment angle in the initial alignment. The initial alignment problem under large misalignment angles has important practical significance. Considering the actual impact of harsh sea conditions on the work of unmanned ships, it will not only swing sharply, but also be affected by external interference such as im...

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Application Information

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IPC IPC(8): G01C21/20G01C21/16G01C25/00G06N3/12
CPCG01C21/203G01C21/16G01C25/005G06N3/126
Inventor 吴峻郭晓艺陈兆国
Owner SOUTHEAST UNIV
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