Virtual anchoring navigation control algorithm for wave glider

Abstract

The virtual anchoring navigation control means that a wave glider performs virtual anchoring control within a certain range of an anchoring point, marine data can be conveniently obtained for a long time, and a marine environment can be conveniently detected. An algorithm comprises the steps of setting a virtual anchoring center point, introducing a virtual mooring error circle, and giving an error circle radius R; carrying out curve discretization on the virtual mooring error circle, which means converting circular curve trajectory tracking into linear path tracking for tracking a plurality of target points, allowing a compass to collect a current course angle psi, allowing a GPS module to perform positioning on the wave glider in real time, calculating an expected course angle psi los byan LOS algorithm, inputting a course difference between an actual course angle and an expected course angle into a PID controller, solving a current expected rudder angle delta and executing steering; and after the wave glider enters the error range of the target point, switching to a next target point, and performing continuous target heading point tracking. According to the invention, a virtualanchoring navigation control algorithm is designed to eliminate precision errors caused by an external environment during anchoring, and through the continuous tracking of a target heading point, thereentry into the anchoring state can be achieved when deviating from the anchoring state.

Description

technical field [0001] The invention relates to a wave glider virtual mooring navigation control algorithm, in particular to the field of wave glider mooring navigation control. Background technique [0002] Virtual mooring navigation control refers to the virtual mooring control of the wave glider within a certain range of the mooring point, so as to be able to obtain marine data and detect the marine environment for a long time. Whether it is oil exploration or ocean exploration, mooring positioning is required to obtain A relatively stable platform system maintains its long-lasting working ability. In the past, ocean observation platforms were moored by constantly passing through target anchoring points. The anchoring accuracy was not high, and it was difficult to achieve accurate ocean monitoring and data acquisition. [0003] Wave gliders driven by waves are more and more widely used. The strong external interference, nonlinearity of the system and uncertainty of the mo...

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Problems solved by technology

[0002] Virtual mooring navigation control refers to the virtual mooring control of the wave glider within a certain range of the mooring point, so as to be able to obtain marine data and detect the marine environment for a long time. Whether it is oil exploration or ocean exploration, mooring positioning is required to obtain A relatively stable platform system maintains its long-lasting working ability. In the past, marine observation platforms were moored by constantly passing through target anchoring points. The anchoring accuracy was not high, and it was difficult to achieve accurate ocean monitoring and data acquisition.

[0003] Wave gliders driven by waves are more and more widely used. The strong external interference, nonlinearity of the system and uncertainty of the model make the anchoring navigation control of the wave glider particularly difficult when moving on the sea surface.

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