Unmanned ship navigation cascade control system

A cascade control and unmanned boat technology, which is applied in the field of unmanned boat navigation cascade control system

Active Publication Date: 2020-05-29
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] The present invention aims at providing a cascade control system for unmanned boat navigation in view of the unpredictable strong external interference problem faced by unmanned boats at present

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  • Unmanned ship navigation cascade control system
  • Unmanned ship navigation cascade control system
  • Unmanned ship navigation cascade control system

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Embodiment Construction

[0028] The implementation of the present invention is described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0029] Such as Figure 1-5As shown, a cascade control system for unmanned boat navigation of the present invention includes a guidance system 1, a cascade control system and an unmanned boat environment perception system 2; the unmanned boat environment perception system 2 perceives navigation information and transmits the information For the guidance system 1 and the cascade control system, the environment perception system of the unmanned vehicle includes a navigation sensor module 2-1, a distance perception module 2-2 and an interference perception module 2-3 (perception of ocean interference information 3, including sea wind, sea waves, currents interference and other maritime information); guidance system 1 includ...

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Abstract

The invention discloses an unmanned ship navigation cascade control system and a control method thereof. The control system comprises a guidance system, a cascade control system and an unmanned ship environment sensing system. The unmanned ship environment sensing system senses navigation information and transmits the information to the guidance system and the cascade control system. The unmannedship environment sensing system comprises a navigation sensor module, a distance sensing module and an interference sensing module. The guidance system comprises a task navigation module, a reactive obstacle avoidance module, a maritime affair rule obstacle avoidance module and a path planning module. The cascade control system comprises a main feedback loop and an auxiliary feedback loop; the guidance system is connected with a main controller and an unmanned ship trajectory feedback system in the main feedback loop; the auxiliary feedback loop is arranged in the main feedback loop, the maincontroller is connected with the auxiliary controller and the unmanned ship attitude feedback system, and the auxiliary controller is connected with an unmanned ship body model identification system.According to the invention, the interference of the external environment can be inhibited such that the unmanned high-performance navigation is realized.

Description

technical field [0001] The invention belongs to the technical field of unmanned boats, and in particular relates to a navigation cascade control system for unmanned boats. The control system has a strong inhibitory effect on strong interference during navigation, and can realize navigation control for unmanned boats to track desired trajectories with high performance and high precision. Background technique [0002] An unmanned boat is a boat that can sail and operate autonomously or semi-autonomously without the need for human driving and operation. It is mainly used to perform dangerous and unsuitable tasks for manned ships. Now it has been widely used in military and civilian fields; in the military field, unmanned boats can realize the tasks of unmanned reconnaissance and ship escort by carrying high-precision equipment and military artillery; in the civilian field, it is mainly used for chart detection, water samples collection, emergency rescue, etc. [0003] Unmanne...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王曰英董佳煜彭艳罗均谢少荣蒲华燕
Owner SHANGHAI UNIV
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