Unmanned ship autonomous recovery method based on primary and secondary ships

A recovery method and technology for unmanned boats, which are applied in the directions of ships, lifeboat processing, radio wave measurement systems, etc., can solve problems such as automatic recovery of unmanned boats, and achieve the effect of stable speed

Active Publication Date: 2020-06-16
SHANGHAI AEROSPACE CONTROL TECH INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a self-recovery metho...

Method used

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  • Unmanned ship autonomous recovery method based on primary and secondary ships
  • Unmanned ship autonomous recovery method based on primary and secondary ships
  • Unmanned ship autonomous recovery method based on primary and secondary ships

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Embodiment Construction

[0070] A self-recovery method for unmanned boats based on mother-child boats, such as figure 1 As shown, the overall process is as follows: After performing the scheduled tasks, the unmanned boat returns to the vicinity of the mother ship and follows the mother ship. Then the door of the dock cabin at the rear of the mother ship was opened, and the unmanned boat accelerated and sailed close to the inside of the dock cabin. After entering the interior of the mother ship, it sailed to the docking point and was fixed by the device to complete the recovery. Proceed as follows:

[0071] Automatic recovery process of unmanned boat:

[0072]1. The unmanned boat obtains the latitude and longitude, speed and attitude of the unmanned boat through integrated navigation.

[0073] 1.1 The unmanned boat integrated navigation system obtains the current latitude and longitude of the unmanned boat through differential GPS.

[0074] 1.2 The integrated navigation system of the unmanned boat r...

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Abstract

The invention discloses an unmanned ship autonomous recovery method based on primary and secondary ships. The unmanned ship autonomous recovery method comprises the following specific steps of: 1) acquiring longitude, latitude, speed and attitude of an unmanned ship by the unmanned ship through integrated navigation; 2) establishing a mother ship-unmanned ship relative navigation coordinate system; 3) establishing a docking region for the unmanned ship to enter a mother ship dock cabin; 4) enabling the unmanned ship to sail into the docking region and kept in the docking region; 5) controllinga speed and a position of the unmanned ship to enable the unmanned ship to navigate along an x-axis course dock cabin of a relative navigation coordinate system, (6) accelerating navigation of the unmanned ship and enabling the unmanned ship to enter the mother ship dock cabin along the center line of the dock cabin, (7) acquiring the relative position of the mother ship dock cabin, (8) navigating the unmanned ship to a designated docking target point by adopting a target tracking algorithm, (9) and docking and recovering the unmanned ship.

Description

technical field [0001] The invention relates to a self-recovering method of an unmanned boat based on a mother boat and belongs to the field of ship control. Background technique [0002] In the prior art, an unmanned boat deployment and recovery device whose mother ship is a docking ship (application number 201810348908.X) sets the guiding hoisting mechanism on the unmanned boat, aims at the mother ship and shoots steel cables during recovery, so that no one The boat drives into the bracket mechanism according to the specified track. [0003] The group-type unmanned boat and deployment and recovery system (application number 201911015634.3) installs lifting, suspension devices, unmanned boat accommodation devices, control systems, and GPS positioning systems on the mother ship. After the unmanned boat reaches the position, the suspension device is used to suspend or recover the unmanned boat. [0004] Nothing related to the present invention is mentioned in the prior art....

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/16G01S19/47B63B23/00
CPCG05D1/0206G01C21/165G01S19/47B63B23/00
Inventor 李聪尹诗明裴忠海皮操余薛浩李桂芳阮军政周智洋
Owner SHANGHAI AEROSPACE CONTROL TECH INST
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