A ship trajectory tracking system controller and a control method thereof

Abstract

The application provides a ship trajectory tracking system controller and a control method thereof, and relates to the technical field of networked control. The controller comprises a state estimation module, a parameter estimation module, a system correction module, a control gain calculation module and a control output calculation module. The state estimation module predicts and estimates the state of the ship trajectory tracking system in consideration of the possible time delay and disorder of the received ship position information, calculates the system state estimation value, sends it to the parameter estimation module for system uncertain parameter estimation, corrects the system state and the system state equation through the system correction module, then calculates the control gain value through the control gain calculation module, calculates the control output through the control output calculation module, and finally sends it to the actuators of each ship through the wireless communication network to realize effective control of the ships in a specific area, ensure the safe navigation of the ships, and effectively reduce the problems of data packet transmission time delay and disorder.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of networked control technology, and in particular to a ship trajectory tracking system controller and a control method thereof. BACKGROUND

[0002] In recent years, the international marine transportation industry has developed rapidly. More than 2 / 3 of the total international trade volume and about 90% of the total Chinese import and export freight volume are transported by sea. The marine transportation industry plays a huge role in trade between China and the rest of the world.

[0003] A ship traffic management system refers to a system for managing ship traffic in a specific water area in a port. It provides specific services to ensure the safety of ship traffic in a port or a waterway and to improve the efficiency of ship traffic, especially in the following special water areas: a ship-intensive area, a dangerous cargo ship navigation channel, a dangerous navigation area, and a narrow waterway. In order to ensure the safety of ship navigation, some ship traffic management systems are equipped with high-precision positioning systems that use wireless communication networks to send high-precision ship position information to ships, detect real-time ship deviation from the channel, and adjust the navigation route. Some ship traffic management systems also install radar equipment on the wharf to control the ship.

[0004] With the application and development of intelligent shipping management systems, the ship trajectory tracking system has become an important part of the ship traffic management system. The ship trajectory tracking system is to control the ship to reach the originally set position within a specified time. The implementation of the intelligent shipping management system requires the ship trajectory tracking system controller to have high-performance trajectory tracking capability.

[0005] Currently, there are major technical challenges to be addressed in the design of the ship trajectory tracking system controller. The main technical challenges include: high nonlinearity and strong coupling of the ship model, uncertainty of the ship trajectory tracking system parameters, and environmental disturbances such as wind and waves on the sea.

[0006] In addition, ship information needs to be communicated with the land through a wireless communication network, but the wireless communication network also has communication limitations such as data packet loss, transmission time delay and disorder, and limited transmission rate. In order to ensure the reliability of the wireless communication network, IP / TCP network protocols can be used to retransmit lost data packets. However, data packet retransmission can cause time delay and disorder, which will have a significant impact on the ship trajectory tracking system, reduce the control performance index, and even cause system instability, resulting in loss of control of the ship and inability to ensure safe navigation of the ship.

[0007] At present, how to design a ship trajectory tracking system controller, adopt an effective control method, reduce the influence of the data packet transmission time delay and disorder of the wireless communication network on the ship trajectory tracking and control, and ensure the safe navigation of the ship are key technical problems to be solved. SUMMARY

[0008] The technical problem solved by the present application is to solve the problems of the prior art, provide a ship trajectory tracking system controller and a control method thereof, realize effective control of the ship trajectory tracking system, ensure the safe navigation of the ship, and effectively reduce the influence of the data packet transmission time delay and disorder on the ship trajectory tracking system under the condition of ensuring that the system control performance index is met.

[0009] To solve the above technical problems, the technical solution adopted by the present application is:

[0010] On the one hand, the present application provides a ship trajectory tracking system controller, comprising a state estimation module, a parameter estimation module, a system correction module, a control gain calculation module and a control output calculation module connected in sequence.

[0011] The state estimation module is connected with the signal receiver a, and is used for receiving the ship trajectory tracking system state information sent by the signal receiver a, and calculating the ship trajectory tracking system state estimation value based on the information;

[0012] The parameter estimation module estimates the system uncertain parameters based on the ship trajectory tracking system state estimation value, and obtains the system parameter estimation value;

[0013] The system correction module corrects the system based on the system parameter estimation value, and obtains the updated system state and system state equation;

[0014] The control gain calculation module calculates the control gain based on the updated system state and system state equation under the condition of meeting the control performance index requirement;

[0015] The control output calculation module calculates the control output based on the calculated control gain and system state estimation value, and sends it to the actuator through the wireless communication network, so as to realize effective control of the ship.

[0016] Further, the state estimation module comprises a sub-state sorting module, a sub-state budget module, a sub-state estimation module, a system state calculation module and a system state output module.

[0017] The sub-state sorting module is used for storing the ship trajectory tracking system sub-state received from the signal receiver, and sorting them in order;

[0018] The i-th ship trajectory tracking system sub-state at time k is the position information of the i-th ship at time k g ik , g ik = [x ik y ik z ik ] T , wherein x ik represents the longitude value of the i-th ship at time k, in degrees; y ik represents the latitude value of the i-th ship at time k, in degrees; and z ik represents the altitude value of the i-th ship at time k, in meters.

[0019] The state estimation module obtains the position information of n ships in a certain area from the signal receiver a as G k = [g 1k g 2k … g nk ] T .

[0020] The sub-state budget module is configured to calculate the predicted value of each ship trajectory tracking system sub-state

[0021] The state estimation module performs a prediction calculation on the position information of n ships at time k G k based on the ship trajectory tracking system state equation and the ship trajectory tracking system control output, to obtain the predicted value of the position information of n ships at time k The calculation method is as shown below:

[0022]

[0023] Based on the calculated , the predicted value of each ship trajectory tracking system sub-state is obtained and provided to the sub-state estimation module for use;

[0024] The ship trajectory tracking system state equation is obtained from the system correction module, and the ship trajectory tracking system control output is obtained from the control output calculation module. The ship trajectory tracking system state equation is as follows:

[0025] G k = A k-1 G k-1 + BU k-1 + FW k-1

[0026] , wherein U k-1 represents the ship trajectory tracking system control output generated by the control output calculation module at time k-1; and W k-1This represents the noise and interference of the ship trajectory tracking system at time k-1; A k-1 B, F are matrices of appropriate dimensions;

[0027] The sub-state estimation module is used to calculate the sub-state estimate of the i-th ship trajectory tracking system. Calculated using the following formula:

[0028]

[0029] Where ρ = 1 indicates that data packet transmission has time delay and out-of-order delivery; ρ = 0 indicates that data packet transmission has no time delay and out-of-order delivery.

[0030] The system state calculation module is used to calculate the sub-state estimates of the ship trajectory tracking system. Further calculations yielded the state estimate of the ship tracking system. As shown in the following formula:

[0031]

[0032] The system status output module is used to output the calculated state estimate of the ship trajectory tracking system. The output is sent to the parameter estimation module.

[0033] Furthermore, the parameter estimation module is based on the obtained state estimates of the ship trajectory tracking system. For system matrix A k Make an estimate; let v 1k v 2k ... v mk This represents m uncertain parameters that change relatively slowly over time. Represents the estimated values ​​of m uncertain parameters, where m ≤ n; system matrix A k Represented as:

[0034]

[0035] Among them, S1, S2, ..., S m Is with The corresponding matrix; A is when v 1k v 2k ... v mk The system matrix when all values ​​are zero;

[0036] System Matrix A k It can also be calculated using the following formula:

[0037]

[0038] Combining the above two system matrices Ak The formula of the equation is as follows:

[0039]

[0040] By solving the above equation, the following is calculated: The system correction module sends the calculated system matrix A to the control gain calculation module.

[0041] Further, the system correction module obtains the system state estimation value X from the parameter estimation module. After that, the system matrix A is calculated according to the following formula: k :

[0042]

[0043] Then, the ship trajectory tracking system state equation is calculated according to the following formula:

[0044]

[0045] wherein, represents the noise interference estimation value in the ship trajectory tracking system;

[0046] The system correction module sends the calculated ship trajectory tracking system state equation and system state estimation value to the control gain calculation module.

[0047] Further, after receiving the ship trajectory tracking system state equation and system state estimation value sent by the system correction module, the control gain calculation module updates the system state, updates the system state equation at the same time, and calculates the control gain L based on the ship trajectory tracking system state equation k .

[0048] The ship trajectory tracking system adopts state feedback control, and the control output U k is:

[0049]

[0050] First, the control performance index is set, and J k represents the control performance index of the ship trajectory tracking system at time k, which is calculated according to the following formula:

[0051]

[0052] wherein, Q and P are symmetric positive definite matrices, and E(X) represents the mean value of variable X;

[0053] In the control process of the ship trajectory tracking system, it is necessary to make the control performance index J k as small as possible and less than the given upper limit; therefore, it is necessary to calculate and solve the following minimization problem:

[0054]

[0055] where M u is the system control performance index J k must satisfy the upper bound;

[0056] By solving the above minimization problem, the control gain L k is calculated as follows:

[0057] L k =-(B T HB+P) -1 B T HA k

[0058] where H is a matrix satisfying the following equation:

[0059]

[0060] The control gain calculation module transmits the calculated control gain L k and the system state estimate to the control output calculation module.

[0061] After receiving the control gain L k and the system state estimate , the control output calculation module calculates the control output value U k .

[0062]

[0063] The control output U k is sent to the signal receiver 1-n through the signal transmitter a, and then transmitted to the actuator 1-n, and finally through the actuator 1-n to realize control of the ship 1-n, ensuring the safety of ship navigation.

[0064] On the other hand, the present application also provides a ship trajectory tracking system control method, which is realized by using the above-mentioned ship trajectory tracking system controller, comprising the following steps:

[0065] Step 1: based on the received ship trajectory tracking system state information, the ship trajectory tracking system state estimate is obtained;

[0066] Step 2: based on the ship trajectory tracking system state estimate, the system uncertain parameter is estimated to obtain the system parameter estimate;

[0067] Step 3: based on the system parameter estimate, the system is corrected to obtain the updated system state and system state equation;

[0068] Step 4: Based on the updated system state and system state equation, calculate the control gain under the condition of meeting the control performance index requirements;

[0069] Step 5: Based on the calculated control gain and system state estimate value, calculate the control output and send it to the actuator through the wireless communication network to achieve effective control of the ship.

[0070] Further, the specific method of step 1 is:

[0071] Step 1.1: The state estimation module obtains the position information G of n ships from the signal receiver a k = [g 1k g 2k …g nk ] T , where g ik = [x ik y ik z ik ] T represents the position information of the i-th ship received at time k, also known as the i-th ship trajectory tracking system sub-state at time k; where x ik represents the longitude value of the i-th ship at time k, in degrees; y ik represents the latitude value of the i-th ship at time k, in degrees; z ik represents the altitude value of the i-th ship at time k, in meters;

[0072] Store the received ship trajectory tracking system sub-state and sort it in order;

[0073] Step 1.2: Based on the ship trajectory tracking system state equation and the ship trajectory tracking system control output, predict the position information G k of the n ships at time k to obtain the predicted value of the position information of the n ships at time k The calculation method is as follows:

[0074]

[0075] Based on the calculated , the predicted value of each ship trajectory tracking system sub-state is obtained

[0076] Where the ship trajectory tracking system state equation is as follows:

[0077] G k = A k-1 G k-1 + BU k-1 + FW k-1

[0078] wherein, U k-1 represents the ship trajectory tracking system control output at k-1 time; W k-1 represents the noise and disturbance of the ship trajectory tracking system at k-1 time; A k-1 , B, F are matrices of appropriate dimensions;

[0079] Step 1.3: Calculate the i-th ship trajectory tracking system sub-state estimation value by the following formula

[0080]

[0081] wherein, ρ = 1 represents that the data packet transmission occurs time delay and disorder; ρ = 0 represents that the data packet transmission does not occur time delay and disorder;

[0082] Step 1.4: According to the calculated ship trajectory tracking system sub-state estimation value , further calculate the ship trajectory tracking system state estimation value , as shown in the following formula:

[0083]

[0084] Further, the specific method of step 2 is as follows:

[0085] The parameter estimation module estimates the system matrix A based on the obtained system state estimation value k ; let v 1k , v 2k ,..., v mk represent m slowly changing uncertain parameters over time, , m ≤ n; the system matrix A k is represented as:

[0086]

[0087] wherein, S1, S2,..., S m are the corresponding matrices of ; A is the system matrix when v 1k , v 2k ,..., v mk are all zero;

[0088] The system matrix A k can also be calculated by the following formula:

[0089]

[0090] In combination with the above two system matrices Ak The formula of the above equation is as follows:

[0091]

[0092] By solving the above equation, the following is obtained: The system correction module sends the ship trajectory tracking system state equation to the system control module.

[0093] Further, the specific method of step 3 is as follows:

[0094] The system correction module obtains the ship trajectory tracking system state equation from the parameter estimation module Then, the system matrix A is calculated according to the following formula: k

[0095]

[0096] Then, the ship trajectory tracking system state equation is calculated according to the following formula:

[0097]

[0098] wherein, represents the noise interference estimation value in the ship trajectory tracking system.

[0099] Further, the specific method of step 4 is as follows:

[0100] Step 4.1: The control gain calculation module updates the system state according to the ship trajectory tracking system state equation and the system state estimation value sent by the system correction module, and updates the system state equation at the same time;

[0101] Step 4.2: The ship trajectory tracking system control performance index setting is performed, and J k represents the ship trajectory tracking system control performance index at time k, which is calculated by the following formula:

[0102]

[0103] wherein, Q and P are symmetric positive definite matrices, and E(X) represents the mean value of variable X;

[0104] Step 4.3: In the ship trajectory tracking system control process, the control performance index J k must be minimized as much as possible and less than the given upper limit; therefore, the following minimization problem needs to be calculated and solved:

[0105]

[0106] wherein, M u is the upper limit of the system control performance index J k that must be met;

[0107] ​Step 4.4: Calculate the control gain L by solving the minimization problem in Step 4.3. k As shown in the following formula:

[0108] L k =-(B T Hb+P) -1 B T HA k

[0109] Where H is a matrix that satisfies the following equation:

[0110]

[0111] In step 5, the control output calculation module calculates the control gain L. k and system state estimates Calculate the control output value U k :

[0112]

[0113] Control output U k The signal is transmitted from transmitter a to receivers 1-n, and then to actuators 1-n. Finally, the actuators 1-n control the vessel 1-n to ensure safe navigation.

[0114] The beneficial effects of adopting the above technical solution are as follows: The ship trajectory tracking system controller and its control method provided by the present invention are mainly applicable to ship trajectory tracking systems in specific areas, and are particularly suitable for realizing effective control of ship trajectory tracking systems, ensuring the safe navigation of all ships in specific areas, and reducing the impact of data packet transmission time delay and out-of-order issues on ship trajectory tracking systems while ensuring that the system control performance indicators are met. Attached Figure Description

[0115] Figure 1 This is a schematic diagram of the ship trajectory tracking system provided in an embodiment of the present invention;

[0116] Figure 2 This is a block diagram of the controller structure of a ship trajectory tracking system provided in an embodiment of the present invention;

[0117] Figure 3 A schematic diagram of the state estimation module provided in an embodiment of the present invention;

[0118] Figure 4 The schematic diagram of the control gain calculation module provided in the embodiment of the present invention. Detailed Implementation

[0119] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0120] Ship tracking systems, such as Figure 1 As shown, it includes ships 1 to n, locators 1 to n, signal transmitters 1 to n, signal receiver a, ship trajectory tracking system controller, signal transmitter a, signal receivers 1 to n, and actuators 1 to n.

[0121] This embodiment provides a ship trajectory tracking system controller and its control method, which is mainly applicable to ship trajectory tracking systems. It is particularly suitable for effectively controlling all ships within a specific area, ensuring system stability, and reducing the impact of data packet transmission time delay and out-of-order issues on the system while ensuring that the system control performance indicators are met, thereby ensuring the safe navigation of all ships within the specific area.

[0122] The ship trajectory tracking system controller in this embodiment, such as Figure 2 As shown, it includes a state estimation module, a parameter estimation module, a system correction module, a control gain calculation module, and a control output calculation module connected in sequence.

[0123] Suppose there are n ships in a specific area, and the locator i installed on the i-th ship can obtain the ship's location information g. ik =[x ik y ik z ik ] T , where x ik y represents the longitude value of the i-th ship at time k, in degrees; ik z represents the dimension of the i-th ship at time k, in degrees; ik Let g represent the altitude of the i-th vessel at time k, in meters. The position information g of the i-th vessel at time k is also given. ik The signal is transmitted from transmitter i to receiver a; receiver a then sends it to the ship trajectory tracking system controller; the ship trajectory tracking system controller, based on the position information G of all n ships within a specific area... k =[g 1k g 2k … g nk ] T The control output is calculated; the control output is sent to signal receivers 1 to n via signal transmitter a, and then transmitted to actuators 1 to n; finally, the control of ships 1 to n is achieved through actuators 1 to n.

[0124] State estimation module such as Figure 3As shown, the system is connected to signal receiver a, and the position information G of n ships is obtained from signal receiver a. k =[g 1k g 2k ... g nk ] T The state estimation module includes: a sub-state sorting module, a sub-state budgeting module, a sub-state estimation module, a system state calculation module, and a system state output module.

[0125] The position information g of the i-th ship received by the state estimation module ik This is also referred to as the i-th ship trajectory tracking system sub-state at time k. Due to the influence of noise and interference within the region, g ik Transmission errors may occur, requiring retransmission, which will cause data packet transmission delays and out-of-order delivery. Therefore, the sub-state sorting module first needs to store the received ship trajectory tracking system sub-states and sort them according to their chronological order.

[0126] The state estimation module can obtain the state equation of the ship trajectory tracking system from the system correction module, as shown below:

[0127] G k =A k-1 G k-1 +BU k-1 +FW k-1

[0128] Among them, U k-1 This represents the control output of the ship trajectory tracking system at time k-1 generated by the control output calculation module, and can be sent to the state estimation module; W k-1 Represents the noise and interference of the ship trajectory tracking system at time k-1; A k-1 B and F are matrices of appropriate dimensions.

[0129] The sub-state budget module, based on the state equations and control outputs of the ship trajectory tracking system, calculates the position information G of n ships at time k. k Predictive calculations are performed to obtain the predicted position information of n ships at time k. The calculation method is as follows:

[0130]

[0131] Based on calculations Thus, the predicted substate values ​​of each ship trajectory tracking system are obtained. Provided for use by the sub-state estimation module.

[0132] Due to the time delay and out-of-order delivery of data packets in the wireless communication network, the state estimation module may not receive the i-th ship trajectory tracking system sub-state g at time k. ik Let ρ = 1 represent data packet transmission with time delay and out-of-order delivery; ρ = 0 represent data packet transmission without time delay and out-of-order delivery. Therefore, the sub-state estimation module needs to calculate the estimated value of the i-th ship trajectory tracking system sub-state. Calculated using the following formula:

[0133]

[0134] The system state calculation module calculates the sub-state estimates of the ship trajectory tracking system based on the calculated values. Further calculations yielded the state estimate of the ship trajectory tracking system. Calculated using the following formula:

[0135]

[0136] The system status output module will output the calculated system status estimate. The output is sent to the parameter estimation module.

[0137] The parameter estimation module is based on the obtained system state estimates. For system matrix A k An estimation is performed. Considering the highly nonlinear and strongly coupled nature of the ship model, the uncertainty of the ship trajectory tracking system parameters, and environmental interference from external factors such as wind, waves, and currents on the sea surface, the system matrix A is... k There is uncertainty. Let v 1k v 2k ... v mk This represents m uncertain parameters that change relatively slowly over time. Let A represent the estimated values ​​of m uncertain parameters, where m ≤ n. The system matrix A. k Represented as:

[0138]

[0139] Among them, S1, S2, ..., S m Is with Represents the matrix corresponding to m uncertain parameters; A is the matrix when v 1k v 2k ... v mk The system matrix when all values ​​are zero.

[0140] The system matrix A can also be calculated using the following method. k :

[0141]

[0142] Combining the above two system matrices A k From the formula, we obtain the following equation:

[0143]

[0144] By solving the above equation, we can calculate... Send to the system correction module.

[0145] The system correction module obtains parameters from the parameter estimation module. Then, calculate the system matrix A according to the following formula. k :

[0146]

[0147] Then, calculate the state equation of the ship trajectory tracking system according to the following formula:

[0148]

[0149] in, This represents the estimated noise interference value in the ship trajectory tracking system.

[0150] The system correction module sends the calculated state equations and system state estimates of the ship trajectory tracking system to the control gain calculation module.

[0151] After receiving the ship trajectory tracking system state equation and system state estimate from the system correction module, the control gain calculation module updates the system state and the system state equation, and calculates the control gain L based on the ship trajectory tracking system state equation. k ,like Figure 4 As shown.

[0152] The ship trajectory tracking system employs state feedback control, with control output U k for:

[0153]

[0154] First, set the control performance indicators. Let J... k The control performance index of the ship trajectory tracking system at time k is represented by the following formula:

[0155]

[0156] Here, Q and P are symmetric positive definite matrices, and E(X) represents the mean of variable X.

[0157] In the process of controlling a ship trajectory tracking system, it is necessary to minimize the control performance index J. kThe minimum value is less than the given upper bound; therefore, we need to compute and solve the following minimization problem:

[0158]

[0159] Among them, M u It is the system control performance index J k The upper bound that must be satisfied. The control gain L is calculated by solving the above minimization problem. k As shown in the formula below:

[0160] L k =-(b T Hb+P) -1 B T HA k

[0161] Where H is a matrix that satisfies the following equation:

[0162]

[0163] The control gain calculation module will calculate the control gain L. k and system state estimates It is transmitted to the control output calculation module.

[0164] The control output calculation module receives the control gain L k and system state estimates Then, calculate the control output value U using the following formula. k :

[0165]

[0166] Control output U k The signal is transmitted from transmitter a to receivers 1-n, and then to actuators 1-n. Finally, the actuators 1-n control the vessel 1-n to ensure safe navigation.

[0167] A control method for a ship trajectory tracking system, implemented using the aforementioned ship trajectory tracking system controller, includes the following steps:

[0168] Step 1: Based on the received ship trajectory tracking system state information, obtain the estimated state value of the ship trajectory tracking system. The specific method is as follows:

[0169] Step 1.1: The state estimation module obtains the position information G of n ships from signal receiver a. k =[g 1k g 2k ...g nk ] T , where gik =[x ik y ik z ik ] T This represents the position information of the i-th ship received at time k, also known as the sub-state of the trajectory tracking system for the i-th ship at time k; where x ik y represents the longitude value of the i-th ship at time k, in degrees; ik z represents the dimension of the i-th ship at time k, in degrees; ik This represents the altitude of the i-th ship at time k, in meters.

[0170] The received ship trajectory tracking system sub-states are stored and sorted in chronological order;

[0171] Step 1.2: Obtain the state equation of the ship trajectory tracking system from the system correction module, as shown below:

[0172] G k =A k-1 G k-1 +BU k-1 +FW k-1

[0173] Among them, U k-1 This represents the control output of the ship trajectory tracking system at time k-1 generated by the control output calculation module, and can be sent to the state estimation module; W k-1 Represents the noise and interference of the ship trajectory tracking system at time k-1; A k-1 B and F are matrices of appropriate dimensions.

[0174] Based on the state equation and control output of the ship trajectory tracking system, the position information G of n ships at time k is... k Predictive calculations are performed to obtain the predicted position information of n ships at time k. The calculation method is as follows:

[0175]

[0176] Based on calculations Thus, the predicted substate values ​​of each ship trajectory tracking system are obtained.

[0177] Step 1.3: Due to the time delay and out-of-order delivery of data packets in the wireless communication network, the state estimation module may not receive the i-th ship trajectory tracking system sub-state g at time k. ikLet ρ = 1 represent data packet transmission with time delay and out-of-order delivery; ρ = 0 represent data packet transmission without time delay and out-of-order delivery; therefore, the state estimation module needs to calculate the sub-state estimate of the i-th ship trajectory tracking system. Calculated using the following formula:

[0178]

[0179] Step 1.4: The state estimation module calculates the sub-state estimates of the ship trajectory tracking system. Further calculations yielded the state estimate of the ship trajectory tracking system. Calculated using the following formula:

[0180]

[0181] The state estimation module will calculate the system state estimate. The output is sent to the parameter estimation module.

[0182] Step 2: Based on the state estimate of the ship trajectory tracking system, estimate the uncertain parameters of the system to obtain the estimated system parameters. The specific method is as follows:

[0183] The parameter estimation module is based on the obtained system state estimates. For system matrix A k Make an estimate.

[0184] Considering the highly nonlinear and strongly coupled nature of the ship model, the uncertainty of the ship trajectory tracking system parameters, and the environmental interference from external factors such as wind, waves, and currents on the sea surface, the system matrix A k There is uncertainty.

[0185] Let v 1k v 2k ... v mk This represents m uncertain parameters that change relatively slowly over time. Represents the estimated values ​​of m uncertain parameters, where m ≤ n; system matrix A k Represented as:

[0186]

[0187] Among them, S1, S2, ..., S m Is with Represents the matrix corresponding to m uncertain parameters; A is the matrix when v 1k v 2k ... v mk The system matrix when all values ​​are zero;

[0188] The system matrix A can also be calculated using the following method. k :

[0189]

[0190] Combining the above two system matrices A k From the formula, we obtain the following equation:

[0191]

[0192] By solving the above equation, we can calculate... Send to the system correction module.

[0193] Step 3: Based on the estimated system parameters, correct the system to obtain the updated system state and system state equations. The specific method is as follows:

[0194] The system correction module obtains parameters from the parameter estimation module. Then, calculate the system matrix A according to the following formula. k :

[0195]

[0196] Then, the state equation of the ship trajectory tracking system is calculated according to the following formula:

[0197]

[0198] in, This represents the estimated noise interference value in the ship trajectory tracking system.

[0199] The system correction module sends the calculated state equations and system state estimates of the ship trajectory tracking system to the control gain calculation module.

[0200] Step 4: Based on the updated system state and system state equations, calculate the control gain while meeting the control performance requirements; the specific method is as follows:

[0201] Step 4.1: The control gain calculation module updates the system state and the system state estimate based on the ship trajectory tracking system state equation and the system state estimate sent by the system correction module.

[0202] Step 4.2: Set the control performance indicators for the ship trajectory tracking system, let J... k The control performance index of the ship trajectory tracking system at time k is represented by the following formula, which is calculated as follows:

[0203]

[0204] Where Q and P are symmetric positive definite matrices, and E(X) represents the mean of variable X;

[0205] Step 4.3: During the control process of the ship trajectory tracking system, it is necessary to minimize the control performance index J. k The minimum value is less than the given upper bound; therefore, we need to compute and solve the following minimization problem:

[0206]

[0207] Among them, M u It is the system control performance index J k The upper bound that must be satisfied;

[0208] Step 4.4: Calculate the control gain L by solving the minimization problem in Step 4.3. k As shown in the following formula:

[0209] L k =-(B T HB+P) -1 B T HA k

[0210] Where H is a matrix that satisfies the following equation:

[0211]

[0212] The control gain calculation module will calculate the control gain L. k and system state estimates It is transmitted to the control output calculation module.

[0213] Step 5: Based on the calculated control gain L k and system state estimates The control output is calculated and sent to the actuator via a wireless communication network to achieve effective control of the ship. Control output value U k Calculate using the following formula:

[0214]

[0215] Control output U k The signal is transmitted from transmitter a to receivers 1-n, and then to actuators 1-n. Finally, the actuators 1-n control the vessel 1-n to ensure safe navigation.

[0216] The ship trajectory tracking system controller and its control method provided in this embodiment are mainly applicable to ship trajectory tracking systems, and are particularly suitable for realizing effective control of ship trajectory tracking systems, ensuring safe navigation of ships, and reducing the impact of data packet transmission time delay and out-of-order issues on ship trajectory tracking systems while ensuring that system control performance indicators are met.

[0217] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of the present invention.

Claims

1. A ship trajectory tracking system controller, characterized in that: It includes a state estimation module, a parameter estimation module, a system correction module, a control gain calculation module, and a control output calculation module connected in sequence; The state estimation module is connected to signal receiver a and is used to receive the state information of the ship trajectory tracking system sent by signal receiver a, and calculate the state estimation value of the ship trajectory tracking system based on the information. The parameter estimation module estimates the uncertain parameters of the system based on the state estimate of the ship trajectory tracking system, and obtains the estimated system parameters. The parameter estimation module is based on the obtained state estimate of the ship trajectory tracking system. For the system matrix Make an estimate; let , , , This represents m uncertain parameters that change relatively slowly over time. , , , This represents the estimated values ​​of m uncertain parameters. System matrix Represented as: ； in, , , , Is with , , , The corresponding matrix; Is when , , , The system matrix when all values ​​are zero; System Matrix It can also be calculated using the following formula: ； Combining the two system matrices mentioned above Then we get the following equation: ； By solving the above equation, we can calculate... , , , Send it to the system correction module; The system correction module corrects the system based on the estimated system parameters, obtaining updated system states and system state equations; the system correction module obtains these from the parameter estimation module. , , , Then, calculate the system matrix according to the following formula. : ； Then, calculate the state equation of the ship trajectory tracking system according to the following formula: ； in, This represents the estimated noise interference value in the ship trajectory tracking system; The system correction module will calculate the state equation and system state estimate of the ship trajectory tracking system and send them to the control gain calculation module; The control gain calculation module calculates the control gain based on the updated system state and system state equations, while meeting the control performance requirements. Based on the calculated control gain and system state estimate, the control output calculation module calculates the control output and sends it to the actuator via a wireless communication network to achieve effective control of the ship.

2. The ship trajectory tracking system controller according to claim 1, characterized in that: The state estimation module includes: a sub-state sorting module, a sub-state budgeting module, a sub-state estimation module, a system state calculation module, and a system state output module; The sub-state sorting module is used to store the sub-states of the ship trajectory tracking system received from the signal receiver and sort them in chronological order. exist Time of the first The sub-state of the ship trajectory tracking system is: Time of the first Location information of individual vessels , ,in, Indicates the first The ship The longitude value at any given time, in degrees; Indicates the first The ship The dimension value at any given time, in degrees; Indicates the first The ship The altitude value at any given time, in meters; The state estimation module obtains the position information of n ships within a specific area from signal receiver a. ; The sub-state budget module is used to calculate the predicted sub-state values ​​of each ship trajectory tracking system. , , , ; The state estimation module, based on the state equations and control outputs of the ship trajectory tracking system, performs the following: Position information of n ships at time n Perform prediction calculations to obtain Predicted position information of n ships at time n The calculation method is as follows: ； Based on calculations Thus, the predicted substate values ​​of each ship trajectory tracking system are obtained. , , , This is provided for use by the sub-state estimation module; The state equation of the ship trajectory tracking system is obtained from the system correction module, and the control output of the ship trajectory tracking system is obtained from the control output calculation module. The state equation of the ship trajectory tracking system is as follows: ； in, express The control output of the ship trajectory tracking system generated by the time control output calculation module; Noise and interference in real-time ship trajectory tracking systems; , , It is a matrix of appropriate dimension; The sub-state estimation module is used to calculate the first state. Substate estimation of a ship trajectory tracking system It is calculated using the following formula: ； in, This indicates that data packet transmission has experienced time delays and is out of order; This indicates that there was no time delay or out-of-order delivery of data packets. The system state calculation module is used to calculate the sub-state estimates of the ship trajectory tracking system. Further calculations yielded the state estimate of the ship tracking system. As shown in the following formula: ； The system status output module is used to output the calculated state estimate of the ship trajectory tracking system. The output is sent to the parameter estimation module.

3. The ship trajectory tracking system controller according to claim 2, characterized in that: After receiving the ship trajectory tracking system state equation and system state estimate sent by the system correction module, the control gain calculation module updates the system state and the system state equation, and calculates the control gain based on the ship trajectory tracking system state equation. ; The ship trajectory tracking system employs state feedback control, and the control output... for: ； First, set the control performance indicators, and let The control performance index of the ship trajectory tracking system at time k is represented by the following formula, which is calculated as follows: ； in, and It is a symmetric positive definite matrix, and E(X) represents the mean of the variable X; In the process of controlling a ship trajectory tracking system, it is necessary to minimize control performance indicators. The minimum value is less than the given upper bound; therefore, we need to compute and solve the following minimization problem: ； in, It is a system control performance indicator The upper bound that must be satisfied; The control gain is calculated by solving the above minimization problem. As shown in the following formula: ； in, It is a matrix that satisfies the following equation: ； The control gain calculation module will calculate the control gain. and system state estimates Transmitted to the control output calculation module; The control output calculation module receives the control gain. and system state estimates Then, calculate the control output value. : ； Control output After passing through signal transmitter a, the signal is sent to signal receiver 1. n is then transmitted to actuator 1. n; finally passed through actuator 1 n to achieve ship 1 The control of n.

4. A control method for a ship trajectory tracking system, implemented using the ship trajectory tracking system controller as described in claim 1, characterized in that: Includes the following steps: Step 1: Based on the received ship trajectory tracking system status information, obtain the estimated value of the ship trajectory tracking system status; Step 2: Based on the state estimate of the ship trajectory tracking system, estimate the uncertain parameters of the system to obtain the estimated system parameters; the specific method is as follows: The parameter estimation module is based on the obtained system state estimates. For the system matrix Make an estimate; let , , , This represents m uncertain parameters that change relatively slowly over time. , , , This represents the estimated values ​​of m uncertain parameters. System matrix Represented as: ； in, , , , Is with , , , The corresponding matrix; Is when , , , The system matrix when all values ​​are zero; System Matrix It can also be calculated using the following formula: ； Combining the two system matrices mentioned above Then we get the following equation: ； By solving the above equation, we can calculate... , , , Send it to the system correction module; Step 3: Based on the estimated system parameters, correct the system to obtain the updated system state and system state equations; the specific method is as follows: The system correction module obtains parameters from the parameter estimation module. , , , Then, calculate the system matrix according to the following formula. : ； Then, the state equation of the ship trajectory tracking system is calculated according to the following formula: ； in, This represents the estimated noise interference value in the ship trajectory tracking system; Step 4: Based on the updated system state and system state equations, calculate the control gain while meeting the control performance requirements; Step 5: Based on the calculated control gain and system state estimate, calculate the control output and send it to the actuator via a wireless communication network to achieve effective control of the ship.

5. The ship trajectory tracking system control method according to claim 4, characterized in that: The specific method for step 1 is as follows: Step 1.1: The state estimation module obtains the position information of n ships from signal receiver a. ,in Indicates in The first time received The location information of each ship, also known as the location information of the first ship. Time of the first Each ship trajectory tracking system has a sub-state; among which... Indicates the first The ship The longitude value at any given time, in degrees; Indicates the first The ship The dimension value at any given time, in degrees; Indicates the first The ship The altitude value at any given time, in meters; The received ship trajectory tracking system sub-states are stored and sorted in chronological order; Step 1.2: Based on the state equation and control output of the ship trajectory tracking system, perform... Position information of n ships at time n Perform prediction calculations to obtain the result at the 1st... Predicted position information of n ships at time n The calculation method is as follows: ； Based on calculations Thus, the predicted substate values ​​of each ship trajectory tracking system are obtained. , , , ; The state equation for the ship trajectory tracking system is shown below: ； in, express The control output of the ship trajectory tracking system at any given time; Noise and interference in the real-time ship trajectory tracking system; , , It is a matrix of appropriate dimension; Step 1.3: Calculate the first step using the following formula. Substate estimation of a ship trajectory tracking system : ； in, This indicates that data packet transmission has experienced time delays and is out of order; This indicates that there was no time delay or out-of-order delivery of data packets. Step 1.4: Based on the calculated sub-state estimates of the ship trajectory tracking system Further calculations yielded the state estimate of the ship trajectory tracking system. As shown in the following formula: 。 6. The ship trajectory tracking system control method according to claim 5, characterized in that: The specific method for step 4 is as follows: Step 4.1: The control gain calculation module updates the system state and the system state estimate based on the ship trajectory tracking system state equation and the system state estimate sent by the system correction module. Step 4.2: Set the control performance indicators for the ship trajectory tracking system, and... The control performance index of the ship trajectory tracking system at time k is represented by the following formula, which is calculated as follows: ； in, and It is a symmetric positive definite matrix, and E(X) represents the mean of the variable X; Step 4.3: During the control process of the ship trajectory tracking system, it is necessary to minimize the control performance indicators. The minimum value is less than the given upper bound; therefore, we need to compute and solve the following minimization problem: ； in, It is a system control performance indicator The upper bound that must be satisfied; Step 4.4: Calculate the control gain by solving the minimization problem in Step 4.

3. As shown in the following formula: ； in, It is a matrix that satisfies the following equation: ； In step 5, the control output calculation module calculates the control gain. and system state estimates Calculate control output value : ； Control output After passing through signal transmitter a, the signal is sent to signal receiver 1. n is then transmitted to actuator 1. n; finally passed through actuator 1 n to achieve ship 1 The control of n.

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