Navigation device and navigation method for an unmanned surface vehicle

Abstract

The application relates to the technical field of ship navigation, in particular to a navigation device and a navigation method for an unmanned ship, which comprises an unmanned ship and a control center on the ground or at sea, the unmanned ship is provided with a main navigation device, a secondary navigation device, a microcontroller and a wireless communication device, the control center on the ground or at sea is provided with a computer, a detection device and a wireless communication assembly; wherein the main navigation device comprises a transmitting part and a receiving part, the secondary navigation device comprises a receiving part, the navigation precision is improved, the energy consumption is reduced, and the device is prevented from being damaged due to heating through the mutual cooperation of the control center, the main navigation device and the secondary navigation device in stages.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ship navigation, and particularly relates to a navigation device and a navigation method of an unmanned ship. BACKGROUND

[0002] In the prior art, the navigation of a ship generally adopts a navigation mode combining satellite and GPS positioning, and the navigation mode has insufficient accuracy and is susceptible to interference. Unmanned ships are used more and more widely, and can be powered by oil-electricity hybrid power or pure electricity. Based on environmental protection and light weight, the use of pure electric mode is a trend. The cost of a marine power battery is high, and the unmanned ship needs power and power supply for many devices on the ship. The endurance is a big problem. When the unmanned ship patrols or works, the navigation process of finding a target and proceeding to the target position to process the target, if high-power devices on the unmanned ship are used to search and detect the target, the unmanned ship is easily found, and the navigation device is easily damaged due to high power consumption and high temperature. When the distance is far, the device is damaged or out of power before reaching the target, and cannot return to the original position. Long-time high-load work of the battery is not conducive to the service life of the battery. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides a navigation device and a navigation method of an unmanned ship, which can accurately navigate to a target or a destination without using satellite navigation and GPS positioning, and can reduce power consumption, be less likely to be found and improve the service life of devices by combined use of multiple navigation devices.

[0004] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: a target navigation device of an unmanned ship, a target navigation device of an unmanned ship, comprising:

[0005] an unmanned ship;

[0006] a navigation device on the unmanned ship; the navigation device comprises a main navigation device, a secondary navigation device, a microcontroller and a wireless communication device; the main navigation device comprises a transmitting part and a receiving part, and the secondary navigation device is used to measure the angle of a target and estimate the distance of the target;

[0007] The first stage of the main navigation device is a dormant stage, and the microcontroller is used to receive and analyze target parameter information sent by the control center in the first stage and navigate accordingly; when the distance between the target and the unmanned ship satisfies a first distance threshold, the second stage of verification is entered, and the main navigation device is in an alternating wake-up state, wherein the wake-up duration ton of the main navigation device is treturn*α / β, wherein ton represents the duration of power-on, in seconds; treturn represents the time required for the main navigation device to emit a signal and receive a signal reflected by the target, in seconds; α represents the detection angle of the main navigation device, in sr; and β represents the accuracy of the detection angle of the auxiliary navigation device, in sr; and the interval time of the main navigation device in the verification stage is wherein tinterval1 represents the verification interval time of the wake-up main navigation device, in seconds; s represents the detection range of the main navigation device, in meters; C represents a constant of 0.6; and v represents the relative speed of the missile with respect to the target, in m / s; the microcontroller also compares the target parameter information received by the main navigation device with the target parameter information of the control center received in real time through the comparison unit in the verification stage, and decides whether to enter the third stage accordingly; when the error after the comparison of the above two exceeds 5%, the third stage of main and auxiliary navigation is entered; and the interval time of the main navigation device in the third stage is tinterval2 represents the navigation interval time of the wake-up main navigation device, and C represents a constant, which depends on the required accuracy and determines the number of wake-ups during navigation, and is between 0.1 and 0.6; the higher the required accuracy, the smaller the value, and the more power consumption; when the distance between the target and the unmanned ship satisfies a second distance threshold, the fourth stage of accurate navigation is entered.

[0008] The control center on the ground or sea includes a computer, a detection device, and a wireless communication assembly; the control center scans the target in a specified range all day or at irregular times, and transmits target parameter information to the wireless communication device of the unmanned ship through the wireless communication assembly after detecting the target.

[0009] Further, if all parameter errors are within 5% after the comparison of the microcontroller in the second stage, the main navigation device is put to sleep, and the target parameter information of the control center is continuously received for navigation in combination with the target angle information of the auxiliary navigation.

[0010] Further, the first distance threshold is the distance between the unmanned ship and the target, and when the distance exceeds the first distance threshold, the error of the target parameter measured by the main navigation device is greater than a certain threshold, which depends on the relative speed of the unmanned ship and the target.

[0011] Further, the target parameter range measured by the auxiliary navigation device is more accurate than the target threshold range obtained by the control center.

[0012] Further, the sub-navigation device has an angle detection range less than or equal to the detection angle of the main navigation device, so that the angle scanning of the main navigation device can be reduced.

[0013] Further, the main navigation device performs angle scanning when navigating, and the scanning angle range is greater than the detection angle.

[0014] Further, the main navigation device is a high-power emission source, and the sub-navigation device itself does not emit a high-power signal.

[0015] Further, the sub-navigation device is arranged around the main navigation device without blocking the main navigation device.

[0016] The application also provides a target navigation method of an unmanned ship.

[0017] Step 1: Control center navigation: the control center on the ground or sea uses a detection device to scan and search for targets within a specified range, and the unmanned ship on the sea navigates according to the target parameter information transmitted by the control center; at this time, the main navigation device is in a dormant state; according to the wind resistance and water resistance measured by the resistance sensor on the unmanned ship, if the real-time combined resistance exceeds the threshold, the unmanned ship travels at 50% of the full speed, otherwise, it travels at full speed.

[0018] Step 2: Wake up the main navigation device: during the approach to the target, when the distance between the target and the unmanned ship meets the first distance threshold, the microcontroller of the unmanned ship wakes up the main navigation device, the main navigation device emits a signal, the signal reflected by the target is received by the receiving part of the main navigation device, the main navigation device sends the received signal to the microcontroller for analysis to obtain the target parameter range, wherein the wake-up duration of the main navigation device is ton; when the main navigation device is awake, the unmanned ship advances at 50% of the full speed to avoid heavy battery load, and when the main navigation device is dormant, the real-time resistance exceeds the threshold, and the unmanned ship travels at 50% of the full speed, otherwise, it travels at full speed.

[0019] Step 3: Signal verification: the microcontroller compares the target parameter information obtained by the main navigation device with the target parameter information received from the control center in real time, if all parameter errors are less than 5%, step 4 is entered, otherwise, step 5 is entered.

[0020] Step 4: Dormant main navigation device, navigate using the control center combined with the sub-navigation device, and return to step 2 after tinterval1.

[0021] Step 5: main and auxiliary navigation alternately: suspend receiving target parameter information from the control center, and then alternately navigate by the main navigation and the auxiliary navigation; the interval time of the main navigation is tinterval2; when the main navigation is awake, the unmanned ship advances at 50% of full speed and C takes the maximum value, and when the main navigation is dormant, the real-time resistance exceeds the threshold, and the unmanned ship advances at 50% of full speed and C takes the maximum value, otherwise, the unmanned ship advances at full speed;

[0022] Step 6: when the distance between the main navigation and the target reaches the second distance threshold, the main navigation is continuously awakened for accurate navigation until the target is reached, and the target is subjected to a predetermined process, and the speed of the unmanned ship is determined according to the process to be handled, if it is rescue, it advances at full speed, if it is monitoring and detection, it advances at less than full speed, and the actual speed is determined according to the battery power.

[0023] Further, in step 1, when the control center cannot provide target parameters due to interference or other reasons, the auxiliary navigation provides target parameters; when the target parameters provided by the control center are not accurate enough, the auxiliary navigation provides more accurate target parameters.

[0024] Further, in step 2, when the signal power received by the main navigation is lower than the detection threshold, the main navigation is dormant, and the auxiliary navigation provides target parameter information. The detection threshold is the minimum power that the main navigation can recognize, which is initially set.

[0025] Further, in step 3, the second distance threshold is that the power of the target reflection received by the main navigation is 1.5 times the detection threshold, indicating that at this distance, combined with the relative speed of the unmanned ship and the target, the target cannot make large maneuvering response; only the main navigation works to provide accurate navigation in this step.

[0026] Compared with the prior art, the present application provides a navigation device and a navigation method for an unmanned ship, which has the following advantages:

[0027] 1. The present application does not use satellite navigation and GPS positioning navigation method, so it is not limited by the strength of satellite signal, no signal and low positioning accuracy.

[0028] 2.The unmanned vehicle only needs to receive the data of the control center to navigate, and does not need to start the main navigation device, and the main navigation device reaches a certain distance threshold to accurately detect the target, and is periodically or non-periodically awakened, otherwise it is dormant, the auxiliary navigation device does not actively radiate when working, and can detect the angle of the target, and is fused into the navigation process as a supplementary navigation mode, when the unmanned vehicle reaches a second distance threshold from the target, the target cannot make large maneuvers in time, and only the main navigation device can be used for accurate navigation;The organic cooperation of the above navigation mode achieves the technical effects of not being easily discovered, low energy consumption, not being easily damaged, and accurate navigation.

[0029] 3.The present application specifically studies the opening time, duration, interval time, last accurate navigation time and running speed of each stage of the main navigation device, which can reduce the number of awakenings of the main navigation device when the resistance is large, and can reduce unnecessary power consumption by running at a speed other than full speed when the main navigation device is awakened, and can fully utilize the inertia of the forward speed, can ensure accurate navigation while avoiding heavy load work of the battery as much as possible, prolong the service life of the battery, and reduce the cost.

[0030] 4.In the initial awakening stage of the main navigation device, the target parameter information of the control center is not immediately abandoned, but the main navigation device is dormant when it is determined that the navigation mode of the control center is still relatively accurate, and the control center and the auxiliary navigation device are combined to continue navigation, which reduces the start of the main navigation device, prolongs the service life and reduces the power consumption. BRIEF DESCRIPTION OF DRAWINGS

[0031] Fig. 1 is a schematic diagram of the overall structure of the present application;

[0032] Fig. 2 is a schematic diagram of the navigation device and the ground or sea control center of the present application;

[0033] Fig. 3 is a schematic diagram of the awakening and dormancy time of the main navigation device of the present application;

[0034] In the figure: unmanned vehicle 1, navigation device 2, ground or sea control center 3, detection device 4, target t, main navigation device 5, auxiliary navigation device 6, transmitting part 7, receiving part 8, microcontroller 9, wireless communication device 10, computer 11, wireless communication component 12. DETAILED DESCRIPTION

[0035] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those of ordinary skill in the art without creative effort should fall into the scope of the present application.

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. Figs. 1-3 The present application will be described in detail, and a target navigation device of an unmanned ship comprises:

[0037] The unmanned ship 1;

[0038] The navigation device 2 on the unmanned ship, which comprises a main navigation component 5, a secondary navigation component 6, a microcontroller 9, and a wireless communication device 10; wherein the main navigation component 5 comprises a transmitting part 7 and a receiving part 8, and the secondary navigation component is used for measuring the angle of the target and estimating the distance of the target;

[0039] The first stage of the main navigation component is a dormant stage, and the microcontroller is used for receiving and analyzing the target parameter information sent by the control center in the first stage and navigating accordingly; when the distance between the target and the unmanned ship satisfies a first distance threshold, the second stage of a verification stage is entered, and at this time, the main navigation component is in an alternating wake-up state, wherein the wake-up duration ton of the main navigation component is treturn*α / β, wherein: ton represents the duration of power-on, in seconds; treturn represents the time required for the main navigation component to transmit a signal and receive a signal reflected by the target, in seconds; α represents the detection angle of the main navigation component, in sr; and β represents the accuracy of the detection angle of the secondary navigation component, in sr; and the verification interval time of the wake-up of the main navigation component in this stage is Wherein: tinterval1 represents the verification interval time of the wake-up of the main navigation component, in seconds; s represents the detection range of the main navigation component, in meters; C represents a constant, which is 0.6; and v represents the relative speed of the missile with respect to the target, in m / s; and the microcontroller also compares the target parameter information received by the main navigation component with the target parameter information of the control center received in real time through a comparison unit in this verification stage; when the error after the comparison of the above two exceeds 5%, the third stage of the main and secondary navigation stage is entered; and the interval time of the wake-up of the main navigation component in this stage is tinterval2 represents the navigation interval time of the wake-up of the main navigation component, and C represents a constant, which depends on the required accuracy and determines the number of wake-ups in the navigation process, and the value is between 0.1 and 0.6; the higher the required accuracy, the smaller the value, and at the same time, the relative power consumption is higher; when the distance between the target and the unmanned ship satisfies a second distance threshold, the fourth stage of the accurate navigation stage is entered;

[0040] A control center 3 on the ground or sea, including a computer 11, a detection device 4 and a wireless communication component 12; the control center 3 scans the target in a specified range all day or at irregular times, and when the distance, direction and speed of the target are detected, the information is transmitted to the wireless communication device 10 of the unmanned ship through the wireless communication component 12.

[0041] Further, in the second stage, the comparison unit of the microcontroller compares the errors of all parameters, and if the errors are within 5%, the main navigation device is put into hibernation, and the target parameter information from the control center is continuously received and combined with the target angle information from the auxiliary navigation device for navigation.

[0042] Further, the first distance threshold is the distance between the unmanned ship and the target, and when the distance exceeds the first distance threshold, the error of the target parameter measured by the main navigation device is greater than a certain threshold, which depends on the relative speed of the unmanned ship and the target.

[0043] Further, the target parameter range measured by the auxiliary navigation device is more accurate than the target threshold range obtained by the control center.

[0044] Further, the angle detection range of the auxiliary navigation device is less than or equal to the detection angle of the main navigation device, which can reduce the angle scanning of the main navigation device.

[0045] Further, the main navigation device performs angle scanning during navigation, and the scanning angle range is greater than the detection angle.

[0046] Further, the main navigation device is a high-power emission source, and the auxiliary navigation device does not emit high-power signals.

[0047] Further, the auxiliary navigation device is arranged around the main navigation device without blocking the main navigation device.

[0048] The application also provides a target navigation method for an unmanned ship; the steps are as follows:

[0049] Step 1: Control center navigation: the control center on the ground or sea uses a detection device to scan and search for targets in a specified range, and the unmanned ship on the sea navigates according to the target parameter information transmitted by the control center; the target parameter information includes the distance, speed and direction of the target relative to the unmanned ship, and at this time the main navigation device is in a hibernation state; according to the wind resistance and water resistance measured by the resistance sensor, if the real-time resistance exceeds the threshold, the unmanned ship is controlled to travel at 50% of the full speed, otherwise, it travels at full speed.

[0050] Step 2: wake up the main navigation device: during the approach to the target, when the distance between the target and the unmanned ship meets the first distance threshold, the microcontroller of the unmanned ship wakes up the main navigation device, the main navigation device emits a signal, the signal reflected by the target is received by the receiving part of the main navigation device, and the main navigation device sends the received signal to the microcontroller for analysis to obtain the target parameter range, wherein the wake-up duration of the main navigation device is ton; when the main navigation device is awake, the unmanned ship advances at 50% of the full speed state to avoid heavy battery load, and when the main navigation device is in sleep, the real-time resistance exceeds the threshold, and the unmanned ship travels at 50% of the full speed state, otherwise, the unmanned ship travels at full speed;

[0051] Step 3: signal verification: the microcontroller compares the target parameter information obtained by the main navigation device with the target parameter information received from the control center in real time, and if all parameter errors are less than 5%, step 4 is entered, otherwise step 5 is entered;

[0052] Step 4: sleep the main navigation device, and navigate in the form of the control center combined with the auxiliary navigation device, and return to step 2 after tinterval1;

[0053] Step 5: main and auxiliary navigation devices alternate navigation: stop receiving the target parameters from the control center, and thereafter the main navigation device and the auxiliary navigation device alternate navigation; the interval time for the main navigation device to wake up is tinterval2; when the main navigation device is awake, the unmanned ship advances at 50% of the full speed state and C takes the maximum value to avoid heavy battery load, and when the main navigation device is in sleep, the real-time resistance exceeds the threshold, and the unmanned ship travels at 50% of the full speed state and C takes the minimum value, otherwise, the unmanned ship travels at full speed;

[0054] Step 6: when the distance between the main navigation device and the target reaches the second distance threshold, the main navigation device is continuously woken up for accurate navigation until the target is reached, and a predetermined process is performed on the target. In this step, the speed of the unmanned ship is determined according to the process to be handled, if it is rescue, the unmanned ship advances at full speed, if it is monitoring and detection, the unmanned ship advances at a speed lower than full speed, and the actual speed is determined according to the battery capacity.

[0055] Further, in step 1, when the control center cannot provide the target parameters due to interference or other reasons, the auxiliary navigation device provides the target parameters; when the target parameters provided by the control center are not accurate enough, the auxiliary navigation device assists in providing more accurate target parameters.

[0056] Further, in step 2, when the signal power received by the main navigation device is lower than the detection threshold, the main navigation device is put to sleep, and the auxiliary navigation device provides the target parameter information. The detection threshold is the minimum power that the main navigation device can recognize, which is initially set.

[0057] Further, the second distance threshold in step 3 is 1.5 times the detection threshold of the power of the target reflection received by the main navigation device, indicating that the target has been unable to make large maneuvering responses at this distance combined with the speed of the unmanned ship; only the main navigation device works to provide accurate navigation in this step.

[0058] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely divergences of the principles and spirit of the application and that numerous modifications, changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the application as defined by the appended claims and their equivalents.

Claims

1. A navigation device for an unmanned boat, comprising: unmanned boats; Navigation equipment located on the unmanned boat; It includes a main navigation component, a secondary navigation component, a microcontroller, and a wireless communication device; The main navigation unit includes a transmitting part and a receiving part, and the secondary navigation unit is used to measure the angle of the target and estimate the distance to the target; The first stage of the main navigation device is the dormant stage. The microcontroller is used to receive the target parameter information sent by the control center in the first stage, analyze it and navigate accordingly. When the distance between the target and the unmanned boat meets the first distance threshold, the second stage verification stage begins. At this time, the main navigation device is in an alternating awakening state. The awakening duration of the main navigation device is ; Where: ton represents the duration of power-on, in seconds; It represents the time required for the main navigation device to transmit the signal and receive the signal reflected by the target, in seconds; represents the detection angle of the main navigation unit, in sr; and Indicates the accuracy of the detection angle of the secondary navigation device, in units of sr; the interval between the main navigation device wake-up in this stage is in: represents the verification interval for waking up the main navigation device, in seconds; s represents the detection range of the main navigation device, in meters; C represents a constant of 0.6; and v represents the relative speed of the missile relative to the target, in meters per second; during this verification phase, the microcontroller also uses a comparison unit to compare the target parameter information received by the main navigation device with the target parameter information received in real time from the control center, and decides whether to enter the third phase accordingly; if the error between the two exceeds 5%, the third phase, the primary and secondary navigation phase, is entered; the interval for waking up the main navigation device in the third phase is ; Indicates the navigation interval for waking up the main navigation component. C is a constant, which depends on the accuracy required. It determines the number of wake-ups during the navigation process. The value is between 0.1 and 0.

6. The higher the required accuracy, the smaller the value is, and the power consumption is relatively high. When the distance between the target and the unmanned boat meets the second distance threshold, it enters the fourth stage of precise navigation. And a control center located on the ground or at sea, which includes a computer, a detection device and a wireless communication component; the control center scans targets within a specified range around the clock or at irregular intervals, and when a target is detected, the target parameter information is transmitted to the wireless communication device of the unmanned boat through the wireless communication component.

2. According to the navigation device of an unmanned boat according to claim 1, if the error of all parameters is within 5% after comparison by the comparison unit of the microcontroller in the second stage verification stage, the main navigation component will be dormant, and the target parameter information of the control center will continue to be received, and navigation will be performed in combination with the target angle information of the secondary navigation.

3. The navigation device for an unmanned boat according to claim 1, characterized in that: Target parameter information includes the distance, relative speed and direction between the target and the unmanned boat.

4. The navigation device for an unmanned boat according to claim 1, characterized in that: The first distance threshold is the distance between the unmanned boat and the target. When the first distance threshold is exceeded, the error of the target parameter information measured by the main navigation component is greater than a certain threshold, which depends on the relative speed between the unmanned boat and the target.

5. The navigation device for an unmanned boat according to claim 1, characterized in that: The target parameter range measured by the secondary navigation device is more accurate than the target parameter range measured by the control center.

6. The navigation device for an unmanned boat according to claim 1, characterized in that: The angle detection range of the secondary navigation unit is less than or equal to the detection angle of the main navigation unit, reducing the angle scanning of the main navigation unit; the main navigation unit performs angle scanning during navigation, and its scanning angle range is greater than its detection angle.

7. The navigation device for an unmanned boat according to claim 1, characterized in that: The main navigation device is a high-power emission source, and the secondary navigation device itself does not radiate high-power signals; the secondary navigation device is arranged around the main navigation device without blocking the main navigation device.

8. The navigation method of the navigation device of an unmanned boat according to any one of claims 1 to 7, comprising the following steps: Step 1: Control center navigation: The control center located on the ground or at sea uses detection equipment to scan and search for targets within a specified range. The unmanned boat at sea navigates according to the target parameter information transmitted by the control center. At this time, the main navigation component is in a dormant state. The wind resistance and water resistance are measured by the resistance sensor on the unmanned boat. If the real-time combined resistance exceeds the threshold, the unmanned boat is controlled to travel at 50% of the full speed state. Otherwise, it will go full speed ahead. Step 2: Wake up the main navigation component: When the distance between the target and the unmanned boat meets the first distance threshold, the microcontroller of the unmanned boat wakes up the main navigation component. The main navigation component transmits a signal, and the signal reflected by the target is received by the receiving part of the main navigation component. The main navigation component sends the received signal to the microcontroller for analysis to obtain the target parameter range. The wake-up duration of the main navigation component is When the main navigation unit is awake, the unmanned boat moves forward at 50% of the full speed to avoid heavy battery load. When the main navigation unit is dormant, if the real-time resistance exceeds the threshold, it will move at 50% of the full speed. Otherwise, it will move at full speed. Step 3: Signal verification: The microcontroller compares the target parameter information obtained by the main navigation unit with the target parameter information received in real time from the control center. If the error of all parameters is less than 5%, it proceeds to step 4; otherwise, it proceeds to step 5. Step 4: Hibernate the main navigation widget and use the control center combined with the secondary navigation widget to navigate. Then return to step 2; Step 5: Alternate navigation between the main and secondary navigation components: Stop receiving the target parameter information from the control center, and then the main and secondary navigation components will alternately navigate; the interval between the main navigation component waking up is When the main navigation unit is awake, the unmanned boat moves forward at 50% of the full speed and C takes the maximum value. When the main navigation unit is dormant, if the real-time resistance exceeds the threshold, the unmanned boat moves at 50% of the full speed and C takes the maximum value. Otherwise, it moves at full speed. Step 6: When the distance between the main navigation component and the target reaches the second distance threshold, the main navigation component is continuously awakened for precise navigation until the target is reached, and the predetermined process is performed on the target. In this step, the speed of the unmanned boat is determined according to the process to be processed. If it is for rescue, it will move forward at full speed. If it is for monitoring and detection, it will move forward at less than full speed. The actual speed is determined by the battery power.

9. The navigation method according to claim 8, characterized in that: In step 1, when the control center cannot provide target parameters due to interference, the secondary navigation component provides the angle of the target parameters; when the target parameters provided by the control center are not accurate enough, the secondary navigation component assists in providing a more accurate target parameter angle.

10. The navigation method according to claim 8, characterized in that: In steps 2 and 5, when the signal power received by the main navigation component is lower than the detection threshold, the main navigation component is put into sleep mode, and the secondary navigation component provides the angle of the target parameter information; The detection threshold is the minimum power value that the main navigation component can recognize, which is the initial setting; the second distance threshold in step 6 is that the power reflected by the target received by the main navigation component is 1.5 times the detection threshold, indicating that at this distance, combined with the relative speed between the unmanned boat and the target, the target can no longer make a large maneuver response; in this step, only the main navigation component works to provide precise navigation.

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