Unmanned survey vessel control method, system and circuit board based on posture adaptive compensation
By using an attitude adaptive compensation method, the ship's data is collected and processed in real time, and the ultrasonic detector is dynamically adjusted to solve the problems of inaccurate attitude calculation and low depth measurement accuracy of unmanned measurement vessels in complex waters, thus achieving high-precision water depth data acquisition.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 淄博市水利勘测设计院有限公司
- Filing Date
- 2026-06-04
- Publication Date
- 2026-07-07
AI Technical Summary
Unmanned survey vessels suffer from inaccurate hull attitude calculation and low depth measurement accuracy in complex water environments. This is mainly due to mechanical vibration noise caused by wave disturbance and sensor installation deviation, as well as the lack of effective attitude compensation and motion correction.
An attitude adaptive compensation method is adopted. By collecting hull angular rate and linear acceleration data in real time, a direction cosine transformation matrix is constructed, the reverse compensation angle is calculated, and dynamic feedforward compensation and deviation integral correction are combined to dynamically adjust the ultrasonic detector to ensure that the main lobe axis of the beam is orthogonal to the water surface. Kinematic compensation correction is also performed to eliminate the geometric distortion of the acoustic path introduced by the hull tilt.
It improves the depth measurement accuracy and stability of unmanned survey vessels in complex waters, overcomes the problems of hull attitude deviation and sound wave propagation path distortion, and realizes high dynamic response of ultrasonic detectors and vertical water depth data acquisition.
Smart Images
Figure CN122346154A_ABST