Real-time Attitude Adjustment System, Method and Terminal for Sensing Equipment of High-speed Unmanned Survey Vessel

Abstract

The present invention belongs to the technical field of attitude adjustment for survey boats and discloses a real-time attitude adjustment system, method, and terminal for sensor equipment of a high-speed unmanned survey boat. The system integrates multiple high-precision sensors and actuators on the unmanned boat to perform attitude measurement and sensor orientation adjustment in real time under high resistance conditions. The system collects the real-time attitude of the vessel and sensor equipment, the vessel's motion state, and control parameters, and calculates the sensor equipment adjustment amount upon input. During the calculation process, the adjustment amount is corrected using an extrapolation algorithm, and the calculation result is reversely calculated to adjust the unmanned boat control, forming a closed-loop feedback loop. By integrating multiple high-precision sensors and actuators on the unmanned boat, the present invention can perform attitude measurement in real time under high resistance conditions, ensuring the accuracy, stability, and predictability of the adjustment amount. Sensor orientation adjustment is used to ensure the authenticity, accuracy, and validity of the data.

Description

Technical Field

[0001] The present invention belongs to the technical field of attitude adjustment of survey boats, and in particular relates to a real-time attitude adjustment system, method and terminal for sensing equipment of a high-speed unmanned survey boat. Background Art

[0002] As unmanned vessels continue to improve, their applications in waters are expanding, and their use cases are also expanding. However, small unmanned vessels are insufficient for hydrological, surveying, and water environment measurements over large areas in high-velocity waters. Large manned vessels suffer from low operational efficiency, long shelter periods, and uncertain equipment installation accuracy. This presents a perfect match for high-speed unmanned vessels. Currently, sensor equipment and unmanned vessels are hard-wired via flanges and other structures. However, the varying speeds of medium and large unmanned vessels in water can cause attitude changes, which can cause sensor equipment to malfunction, especially in complex water conditions. A key application for unmanned survey vessels is carrying high-precision sensor equipment for survey and exploration activities in complex and challenging water conditions. These devices often have high attitude requirements, making effective measurement in complex water conditions a key component of unmanned vessel research.

[0003] However, existing technologies rely on rigid connections, severely impacting device performance. Currently, all sensor equipment onboard unmanned vessels utilizes rigid connections. This can severely impact measurement results or even render it unusable when the vessel experiences significant or severe vibrations. Some unmanned vessel applications utilize lifting rods, which, due to the backlash in the screw gears, can exacerbate sensor instability.

[0004] Furthermore, existing equipment experiences high resistance at high speeds and deep submersion, making it impossible to use existing attitude control modules. In unmanned vessel applications, equipment often penetrates deep into the water, generating high torque and requiring high waterproofing. Existing attitude control mechanisms are insufficient in terms of waterproofing, control methods, and power, to meet the requirements of unmanned vessel applications.

[0005] Through the above analysis, the problems and defects of the existing technology are as follows:

[0006] (1) The existing technology uses rigid connections, which seriously affects the use of equipment; the water conditions in large waters are complex, and unmanned ships will inevitably be affected by various factors such as wind speed, waves, and surface flow speed during operation. It is impossible to ensure that the hull can operate stably in a fixed posture. Especially in some cases with strong winds and waves, the hull will fluctuate up and down or vibrate violently. As the posture of the unmanned ship's hull changes, the sensor equipment carried on the unmanned ship platform will also detect posture changes due to changes in the hull, which will have a great impact on the measurement results of the sensor equipment. Currently, most of the sensor equipment carried on unmanned ships uses rigid connections, that is, the sensor or transducer is fixed to the hull through flanges or clamps. When the ship vibrates significantly or violently, it will have a serious impact on the measurement results or even make it unusable;

[0007] (2) Safety of sensor equipment: Reefs and shoals are common in complex waters, and large ships often have a deep draft. To ensure that the sensor obtains effective measurement data, the transducer of the equipment is generally slightly lower than the ship, causing the sensor to enter the water deeper. Reefs and shoals are common in complex waters. Without an effective sensor equipment retraction and deployment device, the sensor equipment may be damaged in the reef and shoal area. Some unmanned boat applications use lifting rods, but because the screw gear has a gap, this method will cause vibration due to waves, exacerbating the instability of the sensor equipment. In addition, this issue must also be considered during the deployment and transportation of the unmanned boat to avoid damage to the sensor equipment or a large number of operations.

[0008] (3) In order to address the influence of attitude on the transducer, software post-processing is currently generally used to offset some of the influence. However, this method is affected by many factors such as water depth, underwater topography, and water environment. Sometimes the results of software processing will increase the impact of errors. Summary of the Invention

[0009] In response to the problems existing in the prior art, the present invention provides a system, method, medium, equipment and terminal for real-time attitude adjustment of sensing equipment of a high-speed unmanned survey boat.

[0010] The present invention is implemented as follows: a method for real-time attitude adjustment of a sensor device of a high-speed unmanned survey boat, the method comprising:

[0011] A variety of high-precision sensing devices and actuators are integrated on the unmanned boat to perform attitude measurement and sensor orientation adjustment in real time under high resistance conditions; the real-time attitude of the ship and sensing equipment, the ship's motion status and control parameters are collected, and the adjustment amount of the sensing equipment is calculated when input; during the calculation process, the adjustment amount is corrected using the extrapolation method, and the calculation results are back-calculated to adjust the unmanned boat control, forming a closed-loop feedback.

[0012] Furthermore, the real-time attitude adjustment method of the high-speed unmanned survey boat sensor equipment includes the following steps:

[0013] Step 1: measure the real-time attitude of the unmanned ship and the real-time attitude of the sensor equipment respectively;

[0014] Step 2: Record the current speed of the ship and the dynamic parameters of the rudder angle change;

[0015] Step 3: predict the speed of the ship and the power parameters of the gear change at the next sampling moment;

[0016] Step 4: Calculate the optimal posture of the sensor device at that time;

[0017] Step 5: Calculate and estimate the attitude adjustment amount of the sensor device;

[0018] Step 6: driving the posture adjustment system to execute the instruction;

[0019] Step 7: Check the real-time results, calculate the deviation, and incorporate it into the integrator and differentiator;

[0020] Step 8: Reversely correct the ship's dynamic parameters and repeatedly measure the real-time attitude of the unmanned ship.

[0021] Furthermore, the step 1 of measuring the real-time posture of the unmanned ship includes:

[0022] Use GNSS to measure real-time three-dimensional position, attitude, axial acceleration, and angular velocity.

[0023] The real-time posture measurement sensor device includes:

[0024] The three-dimensional attitude of the sensor is measured using a three-dimensional electronic compass on the sensing device.

[0025] The power parameters for recording the current speed of the ship and the rudder angle in step 2 include:

[0026] Collect the latest information from the current ship's electronic control unit, including the ship's speed, gear position, and relevant power parameters and control parameters of the turning rudder angle.

[0027] The power parameters for predicting the speed and gear shift of the ship at the next sampling moment in step 3 include:

[0028] The sampling records the expected power parameters and control parameters of the ship at the next sampling moment; the ship's automatic control unit predicts the indicators based on the target mission, historical motion status and control instructions.

[0029] The calculation of the optimal posture measured by the sensing device at that time in step 4 includes:

[0030] Based on the results of multiple epoch sampling, the sensor's optimal measurement posture and movement trend, the optimal posture of the sensing device at the current moment is calculated, and the result is entered into the calculation unit as an adjustment target.

[0031] Furthermore, the calculation and estimation of the attitude adjustment amount of the sensor device in step 5 includes:

[0032] The information is input into the calculation unit, which calculates the adjustment amount based on the relative attitude difference between the ship and the measurement sensor equipment and the attitude position of the target sensor equipment.

[0033] The driving posture adjustment system execution instructions in step 6 include:

[0034] The execution unit adjusts the posture according to the result calculated in step five.

[0035] The checking of real-time results, calculation of deviations, and incorporation of them into the integrator and differentiator in step seven include:

[0036] Sample the latest sensor posture, check the adjustment results, and incorporate the deviation into the integrator and differentiator to correct the next adjustment.

[0037] The reverse correction of the ship power parameters in step eight includes:

[0038] The current sensor attitude and expected sensor attitude are output to the ship's automatic control unit; the control unit will control the ship's operation according to the sensor type, attitude adjustment parameters and motion planning goals; when the sensor is not working, the ship will execute according to the most effective motion goal; when the sensor is working, the ship will adjust the speed and turning rudder angle of different sensor equipment parameters to achieve optimal operation.

[0039] Furthermore, the real-time attitude adjustment method for the sensing equipment of the high-speed unmanned survey boat further includes:

[0040] The ship's three-dimensional attitude, three-axis angular velocity, and three-dimensional position acceleration are obtained through the ship-borne IMU; the reducer and IMU connected to the motor are rigidly mounted on the hull, and there is a fixed geometric relationship between the two; the bracket of the rotation sensor is coaxial with the angle sensor. When the sensor rotates an angle, the angle sensor rotates the same angle, so the angle sensor measures the rotation of the sensor, and combines the initial angle to obtain the angular deviation between the sensor and the hull IMU; based on the measured IMU data, the deviation between the sensor and the vertical direction is obtained; after obtaining the deviation, the motor rotates in the specified direction according to the instruction, so that the sensor equipment tends to the vertical direction, and the angle sensor and IMU collect new observations and adjust new instructions to gradually ensure that the sensor equipment coincides with the vertical.

[0041] Furthermore, the real-time attitude adjustment method for the sensing equipment of the high-speed unmanned survey boat further includes:

[0042] The ship's IMU obtains the ship's three-dimensional attitude: pitch α, roll β, heading θ, and three-axis angular velocity ω α 、ω β 、ωθ , three-dimensional position acceleration The purpose of attitude adjustment is to make the sensor device coincide with the vertical direction. If the current pitch value is α1 and the angle sensor measurement value is α2, then:

[0043] α3=90-α1-α2;

[0044] Therefore, the amount of sensor device posture to be adjusted is:

[0045] δ=90-α3=α1+α2;

[0046] Projecting the values onto the plane, we get:

[0047] δ′=δ·sin(β);

[0048] Since the IMU provides the current angular velocity, the pitch α at the next moment t+1 for:

[0049] α t+1 =α+ω α ;

[0050] The amount to be adjusted at the next moment is:

[0051]

[0052] Use an algorithm to control hysteresis:

[0053] E t =δ t

[0054] E t+1 =δ t+1

[0055] E t 、E t+1 Smith predictive control is introduced as input to achieve early prediction:

[0056]

[0057] Another object of the present invention is to provide a high-speed unmanned survey boat sensor equipment real-time attitude adjustment system using the high-speed unmanned survey boat sensor equipment real-time attitude adjustment method. The high-speed unmanned survey boat sensor equipment real-time attitude adjustment system includes: a hull, a positioning GNSS, an attitude measurement module IMU, a ship control module, an acquisition and calculation module, an attitude control module, an angle sensor, and a sensor device.

[0058] Among them, the GNSS, IMU and attitude control module are installed on the hull in a fixed geometric relationship, and the sensor equipment is installed on the execution unit through fixed rods and flanges; the attitude of the ship is measured by the IMU, and the relative relationship between the sensor and the ship is measured by the angle sensor. The adjustment amount of the sensor to ensure normal operating attitude is calculated, and the sensor attitude is adjusted by the actuator.

[0059] The actuator consists of a motor, a reducer, a mechanical structure and an angle sensor. After the control center calculates the amount to be adjusted, the actuator drives the motor to rotate, and the angle sensor monitors the rotation position in real time and transmits this information back to the control center; the control center calculates the next epoch control signal based on the deviation, rotation trend and angular acceleration information.

[0060] Another object of the present invention is to provide a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0061] A variety of high-precision sensing devices and actuators are integrated on the unmanned boat to perform attitude measurement and sensor orientation adjustment in real time under high resistance conditions; the real-time attitude of the ship and sensing equipment, the ship's motion status and control parameters are collected, and the adjustment amount of the sensing equipment is calculated when input; during the calculation process, the adjustment amount is corrected using the extrapolation method, and the calculation results are back-calculated to adjust the unmanned boat control, forming a closed-loop feedback.

[0062] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor performs the following steps:

[0063] A variety of high-precision sensing devices and actuators are integrated on the unmanned boat to perform attitude measurement and sensor orientation adjustment in real time under high resistance conditions; the real-time attitude of the ship and sensing equipment, the ship's motion status and control parameters are collected, and the adjustment amount of the sensing equipment is calculated when input; during the calculation process, the adjustment amount is corrected using the extrapolation method, and the calculation results are back-calculated to adjust the unmanned boat control, forming a closed-loop feedback.

[0064] Another object of the present invention is to provide an information data processing terminal, which is used to implement the real-time attitude adjustment system of the high-speed unmanned survey boat sensor equipment.

[0065] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are analyzed from the following aspects:

[0066] First, in view of the technical problems existing in the above-mentioned prior art and the difficulty of solving these problems, this paper closely combines the technical solutions to be protected by the present invention and the results and data during the research and development process, and analyzes in detail and in depth how the technical solutions of the present invention solve the technical problems and some creative technical effects brought about by solving the problems. The specific description is as follows:

[0067] This system collects the real-time attitude, motion, and control parameters of the vessel and sensor equipment, and uses these inputs to calculate sensor adjustments. To ensure the accuracy, stability, and predictability of these adjustments, an extrapolation algorithm is incorporated into the calculation process to correct the adjustments, reduce overshoot, and improve accuracy. To ensure measurement accuracy, the calculation results are then used to adjust the unmanned vessel's control, forming an effective closed-loop system.

[0068] In order to improve adjustment accuracy, reduce oscillations, and avoid frequent adjustments, the present invention adds the following parameters: 1. Ship motion parameters: Knowing the ship's motion can effectively judge the ship's next posture changes, thereby improving adjustment accuracy and reducing the amount of adjustment; 2. Adding a prediction algorithm: Substituting the estimated parameters of the next epoch into the calculation, a certain amount of advance adjustment can be made, thereby reducing adjustment oscillations; 3. Forming a closed-loop feedback system with ship control: Executing action instructions that are beneficial to sensor adjustment during ship control to ensure the working instructions of the sensor equipment.

[0069] The present invention also has the following effects:

[0070] 1. Unmanned ship dedicated attitude adjustment system

[0071] The invention is mainly aimed at the application field of unmanned boats and can be used in water areas. It has good waterproof performance and large torque. During the adjustment process, it is combined with the unmanned boat control to achieve precise control. There is a feedback mechanism with the unmanned boat control.

[0072] 2. Attitude adjustment algorithm with estimation

[0073] The present invention does not simply perform deviation adjustment but combines a plurality of parameters to realize a posture adjustment algorithm with estimation.

[0074] 3. Formed an effective closed-loop feedback mechanism with ship control

[0075] The attitude adjustment module in the present invention does not operate independently, but is linked with the ship control system and has a feedback mechanism with the unmanned ship control. This forms a closed loop, which can achieve more efficient and stable state control of the sensor equipment.

[0076] Second, considering the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by the present invention are described in detail as follows:

[0077] The present invention utilizes a complete set of devices and algorithms to achieve high-precision real-time attitude adjustment of sensor equipment during motion. By integrating a variety of high-precision sensor equipment and actuators on the unmanned boat, attitude measurement and sensor orientation adjustment can be performed in real time under high resistance conditions, ensuring that the data is true, accurate and effective.

[0078] Third, as auxiliary evidence for the inventiveness of the claims of the present invention, it is also reflected in the following important aspects:

[0079] (1) The expected benefits and commercial value of the technical solution of the present invention after transformation are:

[0080] The vast majority of unmanned vessels currently in use are small. Their primary function is to supplement unmanned vessels. This invention further enhances the practicality of unmanned vessels operating over large water areas. Once unmanned vessels can be used for practical, daily operations over large water areas, the scale of their operations and the value they generate will grow exponentially.

[0081] (2) The technical solution of the present invention fills the technical gap in the industry at home and abroad:

[0082] Similar solutions currently exist for some vehicle-mounted and drone platforms, but not for unmanned vessels. In particular, previous solutions are all dry-side, adjusting equipment in the air. Secondly, existing devices operate independently, while the system of this invention achieves linkage and mutual feedback between ship automatic control and attitude adjustment, forming a closed-loop system.

[0083] (3) Whether the technical solution of the present invention solves the technical problems that people have been eager to solve but have not been able to solve successfully:

[0084] Providing effective, high-quality data from sensor equipment is a crucial factor in the expansion of unmanned vessels. This issue is significantly exacerbated in complex waters. This invention aims to ensure stable and reliable data quality in windy and choppy conditions, with frequent changes in attitude. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0086] Figure 1 This is a flow chart of a method for real-time attitude adjustment of a high-speed unmanned survey boat sensor device provided by an embodiment of the present invention;

[0087] Figure 2This is a schematic diagram of a simple posture adjustment mode provided by an embodiment of the present invention;

[0088] Figure 3 Schematic diagram of an optimized posture adjustment mode provided by an embodiment of the present invention;

[0089] Figure 4 This is a relative schematic diagram under an ideal state provided by an embodiment of the present invention;

[0090] Figure 5 This is a schematic diagram of the device posture at high speed in the traditional method provided by an embodiment of the present invention;

[0091] Figure 6 This is a schematic diagram of the sensor posture in a high-speed state after adjustment provided by an embodiment of the present invention;

[0092] Figure 7 is a schematic diagram of an actuator provided by an embodiment of the present invention;

[0093] Figure 8 is a schematic diagram of the calculation principle of the calculation unit provided in an embodiment of the present invention;

[0094] Figure 9 Schematic diagram of a calculation algorithm provided by an embodiment of the present invention.

[0095] FIG10( a ) is a diagram of measurement results without posture adjustment provided by an embodiment of the present invention;

[0096] FIG10( b ) is a diagram of measurement results after posture adjustment provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0097] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0098] In order to solve the problems existing in the prior art, the present invention provides a system, method and terminal for real-time attitude adjustment of sensing equipment of a high-speed unmanned survey boat. The present invention is described in detail below with reference to the accompanying drawings.

[0099] 1. Explanatory Examples In order to enable those skilled in the art to fully understand how to implement the present invention, this section provides an illustrative example that expands upon the technical solutions of the claims.

[0100] like Figure 1 As shown, the real-time attitude adjustment method of the sensor equipment of the high-speed unmanned survey boat provided by the embodiment of the present invention includes the following steps:

[0101] S101, measuring the real-time attitude of the unmanned ship and the real-time attitude of the sensor equipment respectively;

[0102] S102, recording the current speed of the ship and the dynamic parameters of the rudder angle change;

[0103] S103, predicting the speed of the ship and the power parameters for shifting gears at the next sampling moment;

[0104] S104, calculating the optimal posture measured by the sensing device at that time;

[0105] S105, calculating and estimating the attitude adjustment amount of the sensor device;

[0106] S106, driving the posture adjustment system to execute the instruction;

[0107] S107, check the real-time results, calculate the deviation, and incorporate it into the integrator and differentiator;

[0108] S108, reversely correct the ship's dynamic parameters and repeatedly measure the real-time attitude of the unmanned ship.

[0109] The embodiment of the present invention provides a real-time attitude adjustment system for sensing equipment of a high-speed unmanned survey boat, comprising: a hull, a positioning GNSS, an attitude measurement module IMU, a ship control module, a collection and calculation module, an attitude control module, an angle sensor, and sensor equipment.

[0110] Among them, the GNSS, IMU and attitude control module are installed on the hull with a fixed geometric relationship, and the sensor equipment is installed on the execution unit through fixed rods and flanges; the ship's attitude is measured by the IMU, and the relative relationship between the sensor and the ship is measured through the angle sensor. The adjustment amount of the sensor to ensure normal operating attitude is calculated, and the sensor attitude is adjusted through the actuator.

[0111] The actuator consists of a motor, a reducer, a mechanical structure and an angle sensor. After the control center calculates the amount to be adjusted, the actuator drives the motor to rotate. The angle sensor monitors the rotation position in real time and transmits this information back to the control center; the control center calculates the next epoch control signal based on the deviation, rotation trend and angular acceleration information.

[0112] The technical solution of the present invention is further described below with reference to specific embodiments.

[0113] The present invention integrates a variety of high-precision sensing equipment and actuators on the unmanned boat, performs attitude measurement and sensor orientation adjustment in real time under high resistance conditions, and ensures that the data is true, accurate and effective.

[0114] This system collects the real-time attitude, motion, and control parameters of the vessel and sensor equipment, and uses these inputs to calculate sensor adjustments. To ensure the accuracy, stability, and predictability of these adjustments, an extrapolation algorithm is incorporated into the calculation process to correct the adjustments, reduce overshoot, and improve accuracy. To ensure measurement accuracy, the calculation results are then used to adjust the unmanned vessel's control, forming an effective closed-loop system.

[0115] 1. Operation steps:

[0116] 1. Measure the real-time attitude of the unmanned ship

[0117] Use GNSS (GNSS definition) and IMU (IMU definition) to measure real-time 3D position, attitude, and axial acceleration and angular velocity.

[0118] 2. Measure the real-time posture of the sensing device

[0119] The three-dimensional posture of the sensor is measured by a three-dimensional electronic compass on the sensor device.

[0120] 3. Record the ship's current speed, rudder angle and other dynamic parameters

[0121] Collect the latest information from the current ship's electronic control unit, including the ship's speed, gear position, turning rudder angle and other related power parameters and control parameters.

[0122] 4. Predict the ship’s speed, gear shift and other dynamic parameters at the next sampling moment

[0123] The sampling records the ship's expected power and control parameters at the next sampling time. The ship's automatic control unit predicts these parameters based on the target mission, previous motion conditions, and control instructions. These parameters are also an essential element of the ship's automatic control.

[0124] 5. Calculate the optimal posture of the sensor device at that time

[0125] Based on the results of multiple epochs of sampling, the sensor's optimal measured posture, and movement trends, the optimal posture of the sensing device at the current moment is calculated. This result will be entered into the calculation unit as an adjustment target.

[0126] 6. Calculate and estimate the attitude adjustment of the sensor equipment

[0127] The above information is input into the calculation unit, which will calculate the adjustment amount based on the relative attitude difference between the ship and the measurement sensor equipment and the attitude position of the target sensor equipment.

[0128] 7. Drive the posture adjustment system to execute instructions

[0129] The execution unit adjusts the posture according to the result calculated in step 6.

[0130] 8. Check the real-time results, calculate the deviation, and incorporate it into the integrator and differentiator.

[0131] Sample the latest sensor posture, check the adjustment results, and incorporate the deviation into the integrator and differentiator to correct the next adjustment.

[0132] 9. Reverse correction of ship dynamic parameters

[0133] The current and expected sensor attitudes are output to the ship's automatic control unit. The control unit then controls the ship's movements based on the sensor type, attitude adjustment parameters, and motion planning objectives. When the sensors are not operating, the ship will follow the most efficient motion objectives. When the sensors are operating, the ship will adjust the speed and turning angles based on the parameters of the various sensing devices for optimal operation.

[0134] 10. Repeat step one.

[0135] 2. Working Principle

[0136] The present invention relates to the following modules, including a hull, a positioning GNSS, an attitude measurement module (IMU), a ship control module, an acquisition and calculation module, an attitude control module (execution unit), an angle sensor, and a sensor device. The GNSS, IMU, and execution unit are mounted on the hull in a fixed geometric relationship, and the sensor device is mounted on the execution unit via a fixed rod and a flange. To ensure that the sensor device maintains a specified attitude in the water, the ship's attitude is measured using the IMU, the relative relationship between the sensor and the ship is measured using the angle sensor, the amount of adjustment required for the sensor to maintain normal operating attitude is calculated, and the sensor attitude is adjusted using an actuator.

[0137] In order to improve adjustment accuracy, reduce oscillations, and avoid frequent adjustments, the present invention adds the following parameters: 1. Ship motion parameters: Knowing the ship's motion can effectively judge the ship's next posture changes, thereby improving adjustment accuracy and reducing the amount of adjustment; 2. Adding a prediction algorithm: Substituting the estimated parameters of the next epoch into the calculation, a certain amount of advance adjustment can be made, thereby reducing adjustment oscillations; 3. Forming a closed-loop feedback system with ship control: Executing action instructions that are beneficial to sensor adjustment during ship control to ensure the working instructions of the sensor equipment.

[0138] Simple posture adjustment mode such as Figure 2 As shown, the optimized posture adjustment mode is as follows Figure 3 shown.

[0139] The relative schematic diagram under ideal conditions is as follows Figure 4 As shown, the device posture at high speed in the traditional method is as follows Figure 5 As shown, after adjustment, the sensor posture at high speed is as follows Figure 6 shown.

[0140] 3. Executive Agency

[0141] The actuator consists of a motor, a speed reducer, a mechanical structure, and an angle sensor. After the control center calculates the adjustment amount, the actuator drives the motor to rotate. The angle sensor monitors the rotational position in real time and transmits this information back to the control center. The control center calculates the control signal for the next epoch based on information such as deviation, rotation trend, and angular acceleration.

[0142] First, the ship's onboard IMU can be used to obtain the ship's three-dimensional attitude (heading, pitch, and roll), three-axis angular velocity, and three-dimensional position acceleration. Secondly, a reducer connected to the motor and the IMU are rigidly mounted on the hull, with a fixed geometric relationship between them. The reducer has two shafts, one of which is connected to the measuring axis of an angle sensor. The other end is connected to the rotating shaft of the sensor bracket, so the bracket of the rotation sensor is coaxial with the angle sensor. When the sensor rotates an angle, the angle sensor also rotates by the same angle. Therefore, the angle sensor can measure the sensor's rotation. Combined with the initial angle, the angular deviation between the sensor and the IMU (i.e., the hull) can be calculated. Taking the measured IMU data into account, the deviation of the sensor from the vertical can be determined. (The IMU measures the deviation between the hull and the vertical direction, and the angle sensor measures the deviation between the sensing device and the ship, so the deviation between the sensing device and the vertical is obtained. The adjustment purpose of the present invention is to make the sensing device coincide with the vertical direction, so this deviation is the adjustment amount of the present invention) After obtaining this deviation, the motor rotates in the specified direction according to the instruction, so that the sensing device tends to the vertical direction. The angle sensor and IMU collect new observations and adjust new instructions to gradually ensure that the sensing device coincides with the vertical.

[0143] The structure has the following features: 1) The IMU and the reducer maintain a fixed geometric relationship. 2) Shafts are output from both ends of the reducer. 3) One end of the reducer shaft is coaxial with and locked to the measuring axis of the angle sensor. At the same time, the flange of the angle sensor is fixed to the reducer, so that when the reducer shaft rotates, the measuring axis of the angle sensor also rotates, but the angle sensor itself is fixed. This is how the rotation angle of the shaft can be measured. 4) The other end of the reducer shaft is coaxially fixed to the mounting bracket of the sensor device. When the reducer shaft rotates a specific angle, the sensor device also rotates the same angle, and the angle sensor can measure this angle at the same time. 5) The motor is connected to the reducer, which reduces the speed and increases the torque, making this solution feasible.

[0144] Actuator diagram Figure 7 shown.

[0145] 4. Computing Unit

[0146] The ship's IMU can obtain the ship's three-dimensional attitude (pitch α, roll β, heading θ), three-axis angular velocity (ω α、ω β 、ω θ ), three-dimensional position acceleration The purpose of attitude adjustment is to make the sensor device coincide with the vertical direction. For example, if the current pitch value is α1, the angle sensor measurement value is α2.

[0147] but,

[0148] α3=90-α1-α2

[0149] Therefore, the amount of sensor device posture to be adjusted is:

[0150] δ=90-α3=α1+α2

[0151] At the same time, due to the existence of roll, this value also needs to be projected onto the plane. Then,

[0152] δ′=δ·sin(β)

[0153] Since the IMU provides the current angular velocity, the pitch α at the next moment t+1 for:

[0154] α t+1 =α+ω α

[0155] The amount to be adjusted at the next moment is:

[0156] δ t+1 = = α 1(t+1) +α 2(t+1)

[0157] Because sensor adjustment requires a system of electronic drives and mechanical structures, it takes a while for the calculated adjustment to be implemented, resulting in adjustment lag. This requires specialized algorithms to control this lag, reduce overshoot, and achieve precise control.

[0158] E t =δ t

[0159] E t+1 =δ t+1

[0160] E t 、E t+1 Smith predictive control is introduced as input to achieve early prediction:

[0161]

[0162] Computational units such as Figure 8 shown.

[0163] The algorithm flow chart (refer to the control algorithm with estimation in unmanned vehicle control) is as follows Figure 9 shown.

[0164] Note:

[0165] IMU: Inertial measurement unit is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object.

[0166] The full name of GNSS is Global Navigation Satellite System, which refers to all satellite navigation systems, including global, regional and enhanced systems, such as the United States' GPS, Russia's Glonass, Europe's Galileo, China's Beidou satellite navigation system, and related augmentation systems.

[0167] The key points and points to be protected of the present invention include:

[0168] 1. Unmanned ship state adjustment system: a dedicated unmanned ship attitude adjustment system.

[0169] 2. Closed-loop attitude adjustment algorithm with estimation: This algorithm has two major characteristics: 1) It estimates the adjustment amount in advance to reduce oscillation; 2) It is linked with the ship control unit, taking control parameters into account during calculation. The output of the result affects the ship control, achieving effective adjustment throughout the entire journey and ensuring the effectiveness of the measurement.

[0170] Similar solutions exist in laboratories and on some vehicle-mounted and even ship-mounted platforms, but not on unmanned vessels. In particular, previous solutions are all dry-end, adjusting equipment in the air. Secondly, existing devices operate independently, while the system of this invention achieves linkage and mutual feedback between ship automatic control and attitude adjustment, forming a closed-loop system.

[0171] 2. Application Examples: In order to demonstrate the creativity and technical value of the technical solution of the present invention, this section provides application examples of the claimed technical solution on specific products or related technologies.

[0172] In underwater topography surveying applications, whether or not the sensor equipment is properly adjusted significantly impacts sounding results. Unadjusted sensors prevent the sounding equipment from accurately measuring the water depth directly beneath the vessel. Typically, the resulting value is greater than the true value, but this difference fluctuates with varying water depths and attitude. In areas with highly undulating terrain, the obtained value may be less than the true value, and the difference may fluctuate significantly, making post-processing adjustments nearly impossible.

[0173] In a specific underwater topography project, we used two different methods to measure the terrain. In the measurement results without attitude adjustment, we can clearly see jagged contour lines, which are inconsistent with the actual underwater terrain and clearly demonstrate the irrationality of the measurement results. This is due to the disturbance caused by attitude changes. However, after loading the attitude adjustment system, the measurement results are significantly smoother and more reasonable, truly reflecting the underwater topography of the area. Figure 10(a) shows the measurement results without attitude adjustment, and Figure 10(b) shows the measurement results after attitude adjustment.

[0174] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art will appreciate that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, or can be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0175] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A method for real-time attitude adjustment of a high-speed unmanned survey boat sensor device, characterized in that: The real-time attitude adjustment method of the high-speed unmanned survey boat sensor equipment includes: A variety of high-precision sensing devices and actuators are integrated into the unmanned boat to perform attitude measurement and sensor orientation adjustment in real time under high resistance conditions. The real-time attitude of the ship and sensing devices, the ship's motion status, and control parameters are collected, and the sensor device adjustment amount is calculated when input. During the calculation process, the adjustment amount is corrected using extrapolation, and the calculation results are back-calculated to adjust the unmanned boat control, forming a closed-loop feedback loop. The method for real-time attitude adjustment of the sensing equipment of the high-speed unmanned survey boat further comprises: The ship's IMU obtains the ship's three-dimensional attitude: pitch α, roll β, heading θ, and three-axis angular velocity ω α 、ω β 、ω θ , three-dimensional position acceleration The purpose of attitude adjustment is to make the sensor device coincide with the vertical direction. If the current pitch value is α1 and the angle sensor measurement value is α2, then: α3＝90-α1-α2； Therefore, the amount of sensor device posture to be adjusted is: δ=90-α3=α1+α2; Projecting the values onto the plane, we get: δ′=δ·sin(β); Since the IMU provides the current angular velocity, the pitch α at the next moment t+1 for: a t+1 =a+ω α ; The amount to be adjusted at the next moment is: d t+1 ==α1 (t+1) +a2 (t+1) ; Use an algorithm to control hysteresis: E t =d t E t+1 =d t+1 E t 、E t+1 Smith predictive control is introduced as input to achieve early prediction:

2. The method for real-time attitude adjustment of a high-speed unmanned survey boat sensor device according to claim 1, characterized in that: The method for real-time attitude adjustment of the sensor equipment of the high-speed unmanned survey boat comprises the following steps: Step 1: measure the real-time attitude of the unmanned ship and the real-time attitude of the sensor equipment respectively; Step 2: Record the current speed of the ship and the dynamic parameters of the rudder angle change; Step 3: predict the speed of the ship and the power parameters of the gear change at the next sampling moment; Step 4: Calculate the optimal posture of the sensor device at that time; Step 5: Calculate and estimate the attitude adjustment amount of the sensor device; Step 6: driving the posture adjustment system to execute the instruction; Step 7: Check the real-time results, calculate the deviation, and incorporate it into the integrator and differentiator; Step 8: Reversely correct the ship's dynamic parameters and repeatedly measure the real-time attitude of the unmanned ship.

3. The method for real-time attitude adjustment of a high-speed unmanned survey boat sensor device according to claim 2, characterized in that: The step 1 of measuring the real-time attitude of the unmanned ship includes: Use GNSS to measure real-time three-dimensional position, attitude, and axial acceleration and angular velocity; Measuring the real-time posture of sensing devices includes: Utilize a three-dimensional electronic compass on the sensing device to measure the three-dimensional attitude of the sensor; The power parameters for recording the current speed of the ship and the rudder angle in step 2 include: Collect the latest information from the current ship's electronic control unit, including the ship's speed, gear position, and relevant power parameters and control parameters of the turning rudder angle; The power parameters for predicting the speed and gear shift of the ship at the next sampling moment in step 3 include: The sampling records the ship's expected power parameters and control parameters at the next sampling moment; the ship's automatic control unit predicts the indicators based on the target mission, historical motion status and control instructions; The calculation of the optimal posture measured by the sensing device at that time in step 4 includes: Based on the results of multiple epoch sampling, the sensor's optimal measurement posture and movement trend, the optimal posture of the sensing device at the current moment is calculated, and the result is entered into the calculation unit as an adjustment target.

4. The method for real-time attitude adjustment of a high-speed unmanned survey boat sensor device according to claim 2, characterized in that: The calculation and estimation of the attitude adjustment amount of the sensor device in step 5 include: The information is input into a calculation unit, which calculates the adjustment amount based on the relative attitude difference between the ship and the measurement sensor device and the attitude position of the target sensor device; The driving posture adjustment system execution instructions in step 6 include: The execution unit adjusts the posture according to the result calculated in step 5; The checking of real-time results, calculation of deviations, and incorporation of them into the integrator and differentiator in step seven include: Sample the latest sensor posture, check the adjustment results, and incorporate the deviation into the integrator and differentiator to correct the next adjustment; The reverse correction of the ship power parameters in step eight includes: The current sensor attitude and expected sensor attitude are output to the ship's automatic control unit; the control unit will control the ship's operation according to the sensor type, attitude adjustment parameters and motion planning goals; when the sensor is not working, the ship will execute according to the most effective motion goal; when the sensor is working, the ship will collect different sensor devices to adjust the speed and turning rudder angle to achieve optimal operation.

5. The method for real-time attitude adjustment of a high-speed unmanned survey boat sensor device according to claim 1, characterized in that: The method for real-time attitude adjustment of the sensing equipment of the high-speed unmanned survey boat further comprises: The ship's three-dimensional attitude, three-axis angular velocity, and three-dimensional position acceleration are obtained through the ship-borne IMU; the reducer and IMU connected to the motor are rigidly mounted on the hull, and there is a fixed geometric relationship between the two; the bracket of the rotation sensor is coaxial with the angle sensor. When the sensor rotates an angle, the angle sensor rotates the same angle, so the angle sensor measures the rotation of the sensor, and combines the initial angle to obtain the angular deviation between the sensor and the hull IMU; based on the measured IMU data, the deviation between the sensor and the vertical direction is obtained; after obtaining the deviation, the motor rotates in the specified direction according to the instruction, so that the sensor equipment tends to the vertical direction, and the angle sensor and IMU collect new observations and adjust new instructions to gradually ensure that the sensor equipment coincides with the vertical.

6. A high-speed unmanned survey vessel sensor equipment real-time attitude adjustment system using the high-speed unmanned survey vessel sensor equipment real-time attitude adjustment method according to any one of claims 1 to 5, characterized in that: The real-time attitude adjustment system for the sensor equipment of the high-speed unmanned survey boat includes: a hull, a positioning GNSS, an attitude measurement module IMU, a ship control module, an acquisition and calculation module, an attitude control module, an angle sensor and sensor equipment; The GNSS, IMU, and attitude control module are mounted on the hull in a fixed geometric relationship, and the sensor equipment is mounted on the actuator unit via a fixed rod and flange. The IMU measures the attitude of the ship, and the angle sensor measures the relative relationship between the sensor and the ship. The adjustment amount of the sensor to ensure normal operating attitude is calculated, and the sensor attitude is adjusted by the actuator. The actuator consists of a motor, a reducer, a mechanical structure and an angle sensor. After the control center calculates the amount to be adjusted, the actuator drives the motor to rotate, and the angle sensor monitors the rotation position in real time and transmits this information back to the control center; the control center calculates the next epoch control signal based on the deviation, rotation trend and angular acceleration information.

7. An information data processing terminal, characterized in that: The information data processing terminal is used to implement the real-time attitude adjustment system for the sensing equipment of the high-speed unmanned survey boat as described in claim 5.

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