A remote controlled unmanned vessel heading fault-tolerant control system and method

Abstract

The present invention provides a remote-controlled unmanned vessel heading fault-tolerant control system, comprising an execution module, a receiving module, a detection module, a transmitting module, an analysis module, an input module and a formation module, wherein the receiving module is used to receive instruction information, the execution module controls the steering of the unmanned vessel according to the instruction information, the detection module is used to detect the navigation status information of the unmanned vessel, the transmitting module is used to transmit instruction information, the input module is used to input target information, the analysis module calculates instruction parameters based on the target information and the navigation status of the unmanned vessel, and the formation module is used to record the communication identity information of the unmanned vessel; the analysis module of the system can analyze the navigation data of the unmanned vessel and adjust the heading when it is easy to leave the fault-tolerant area, thereby reducing the frequency of adjustment and making the navigation smoother.

Description

Technical Field

[0001] The present invention relates to the field of two-dimensional control or channel control, and in particular to a remote-controlled unmanned ship heading fault-tolerant control system. Background Art

[0002] An unmanned vessel is an unmanned ship, mainly divided into unmanned surface vessels and unmanned submarines. It is mainly used to perform dangerous tasks that are not suitable for manned ships. Unmanned ships are expected to completely revolutionize naval military operations and warfare in the next 10 years. Unmanned ships are usually controlled by wireless command systems. Due to the interference of waves during navigation, unmanned ships need to be adjusted. How to reduce the frequency of adjustments during the adjustment process while ensuring navigation within the fault tolerance range is a problem that the control system needs to solve.

[0003] The foregoing discussion of the background art is intended only to facilitate an understanding of the present invention. This discussion does not acknowledge or admit that any of the material referred to is part of the common general knowledge.

[0004] Numerous control systems have been developed. After extensive research and reference, we discovered existing control systems, such as the system disclosed in Publication No. CN112925324B. These systems generally include a remote control unit for issuing remote control signals, including a remote controller and a network-connected mobile terminal. The remote controller includes a switch for selecting a predetermined cruise route; an information processing unit, signal-connected to the remote controller and the network-connected mobile terminal, for receiving, processing, and generating execution control signals from the remote controller and the network-connected mobile terminal; and an execution unit for receiving the execution control signals from the information processing unit or the remote controller and controlling the movement of the vessel based on the received control signals. However, this system does not account for the impact of waves on the original route during navigation and only provides basic control of the unmanned vessel. The control frequency is high, making it susceptible to signal capture. Summary of the Invention

[0005] The purpose of the present invention is to address the existing deficiencies and propose a remote-controlled unmanned vessel heading fault-tolerant control system and method.

[0006] The present invention adopts the following technical solutions:

[0007] A remote controlled unmanned ship heading fault-tolerant control system includes an execution module, a receiving module, a detection module, a transmitting module, an analysis module, an input module and a formation module;

[0008] The execution module, the receiving module and the detection module are installed on the unmanned vessel, the receiving module is used to receive instruction information, the execution module controls the steering of the unmanned vessel according to the instruction information, and the detection module is used to detect the navigation status information of the unmanned vessel;

[0009] The transmitting module, the analyzing module, the input module and the formation module are installed in a command and control center. The transmitting module is used to transmit command information, the input module is used to input target information, the analyzing module calculates command parameters based on the target information and the navigation status of the unmanned vessel, and the formation module is used to record the communication identity information of the unmanned vessel.

[0010] The analysis module sets a fault tolerance region, calculates the lateral movement rate and the angular rate according to the real-time navigation status data of the unmanned vessel, and calculates the fault tolerance index of the unmanned vessel based on the lateral movement rate and the angular rate. When the fault tolerance index is less than a threshold, the analysis module calculates the steering angle, and the execution module adjusts the heading of the unmanned vessel based on the steering angle.

[0011] Furthermore, the navigation status information detected by the detection module includes the coordinates of the unmanned ship, the real-time heading angle of the unmanned ship, and the speed of the unmanned ship;

[0012] Furthermore, the analysis module includes a data storage unit and a calculation processing unit, wherein the storage unit is used to store the received detection information and the calculation processing unit is used to perform calculation tasks;

[0013] Furthermore, the calculation formula of the fault tolerance index Pw is:

[0014]

[0015] Among them, t now represents the current moment, L represents the distance between the unmanned ship and the target location, v is the speed of the unmanned ship, Dft is the fault tolerance distance, d(t now ) is the distance between the unmanned ship and the channel axis of the fault tolerance area at the current moment, θ(t now ) is the angle between the current heading of the unmanned ship and the axis of the channel in the fault tolerance area, α is the lateral displacement rate, and β is the deflection rate;

[0016] Furthermore, the calculation formula of the lateral shift rate α is:

[0017]

[0018] The calculation formula of the deflection rate β is:

[0019]

[0020] Among them, [t1, t2] is the time period corresponding to the lateral rate and the angular rate, and θ(t) represents the functional relationship between the angle between the unmanned ship and the channel axis and time;

[0021] A method for fault-tolerant control of a remotely controlled unmanned vessel's course, comprising the following steps:

[0022] S101, unmanned vessels upload navigation data in real time;

[0023] S102, calculating the lateral displacement rate and the yaw rate according to the navigation data;

[0024] S103, calculating a fault tolerance index;

[0025] S104: Determine whether the heading needs to be adjusted based on the fault tolerance index. If so, calculate the steering angle. If not, jump back to step S102.

[0026] S105: Adjust the heading according to the steering angle, clear the navigation data and then jump back to step S102.

[0027] The beneficial effects achieved by the present invention are:

[0028] This system sets up a fault tolerance area based on the starting point and the target point, and makes a fault tolerance judgment on the position of the unmanned vessel during navigation based on the fault tolerance area. When the fault tolerance index is less than the threshold, the heading is adjusted, which greatly reduces the frequency of adjustment. At the same time, this system also calculates the lateral displacement rate and angular rate for each time period, and calculates the fault tolerance index based on these two parameters, so that the fault tolerance index can better reflect the deviation under the influence of waves, reducing the number of subsequent adjustments required.

[0029] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and illustration and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structural framework of the present invention;

[0031] Figure 2 This is a schematic diagram of the initial control flow of the present invention;

[0032] Figure 3 Schematic diagram of the fault-tolerant area of ​​the present invention;

[0033] Figure 4 Schematic diagram of the flow of the heading fault-tolerant control method of the present invention;

[0034] Figure 5 This is a schematic diagram of the analysis module of the present invention. DETAILED DESCRIPTION

[0035] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted in actual size. It is stated in advance. The following embodiments will further explain the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention.

[0036] Example 1.

[0037] This embodiment provides a remote control unmanned ship heading fault-tolerant control system, combined with Figure 1 , including execution module, receiving module, detection module, transmission module, analysis module, input module and formation module;

[0038] The execution module, the receiving module and the detection module are installed on the unmanned vessel, the receiving module is used to receive instruction information, the execution module controls the steering of the unmanned vessel according to the instruction information, and the detection module is used to detect the navigation status information of the unmanned vessel;

[0039] The transmitting module, the analyzing module, the input module and the formation module are installed in a command and control center. The transmitting module is used to transmit command information, the input module is used to input target information, the analyzing module calculates command parameters based on the target information and the navigation status of the unmanned vessel, and the formation module is used to record the communication identity information of the unmanned vessel.

[0040] The analysis module sets a fault tolerance region, calculates the lateral movement rate and the angular rate according to the real-time navigation status data of the unmanned vessel, and calculates the fault tolerance index of the unmanned vessel based on the lateral movement rate and the angular rate. When the fault tolerance index is less than a threshold, the analysis module calculates the steering angle, and the execution module adjusts the heading of the unmanned vessel based on the steering angle.

[0041] The navigation status information detected by the detection module includes the coordinates of the unmanned ship, the real-time heading angle of the unmanned ship, and the speed of the unmanned ship;

[0042] The analysis module includes a data storage unit and a calculation processing unit, wherein the storage unit is used to store the received detection information and the calculation processing unit is used to perform calculation tasks;

[0043] The calculation formula of the fault tolerance index Pw is:

[0044]

[0045] Among them, t now represents the current moment, L represents the distance between the unmanned ship and the target location, v is the speed of the unmanned ship, Dft is the fault tolerance distance, d(t now ) is the distance between the unmanned ship and the channel axis of the fault tolerance area at the current moment, θ(t now ) is the angle between the current heading of the unmanned ship and the axis of the channel in the fault tolerance area, α is the lateral displacement rate, and β is the deflection rate;

[0046] The calculation formula of the lateral shift rate α is:

[0047]

[0048] The calculation formula of the deflection rate β is:

[0049]

[0050] Among them, [t1, t2] is the time period corresponding to the lateral rate and the angular rate, and θ(t) represents the functional relationship between the angle between the unmanned ship and the channel axis and time;

[0051] Combine Figure 4 A method for controlling the course of a remotely controlled unmanned vessel to a fault-tolerant level comprises the following steps:

[0052] S101, unmanned vessels upload navigation data in real time;

[0053] S102, calculating the lateral displacement rate and the yaw rate according to the navigation data;

[0054] S103, calculating a fault tolerance index;

[0055] S104: Determine whether the heading needs to be adjusted based on the fault tolerance index. If so, calculate the steering angle. If not, jump back to step S102.

[0056] S105: Adjust the heading according to the steering angle, clear the navigation data and then jump back to step S102.

[0057] Example 2.

[0058] This embodiment includes all the contents of the first embodiment, and provides a remote-controlled unmanned vessel heading fault-tolerant control system, including an execution module, a receiving module, a detection module, a transmitting module, an analysis module, an input module, and a formation module;

[0059] The execution module, the receiving module and the detection module are installed on the unmanned vessel, the receiving module is used to receive instruction information, the execution module controls the steering of the unmanned vessel according to the instruction information, and the detection module is used to detect the navigation status information of the unmanned vessel;

[0060] The transmitting module, the analyzing module, the input module and the formation module are installed in a command and control center. The transmitting module is used to transmit command information, the input module is used to input target information, the analyzing module calculates command parameters based on the target information and the navigation status of the unmanned vessel, and the formation module is used to record the communication identity information of the unmanned vessel.

[0061] The navigation status information detected by the detection module includes the coordinates of the unmanned ship, the real-time heading angle of the unmanned ship, and the speed of the unmanned ship, and the navigation status information is fed back to the transmitting module through the receiving module;

[0062] The transmitting module and the receiving module both have the functions of receiving and sending information;

[0063] The formation module includes a ship information table and a conversion unit. The ship information table records the universal ID and communication ID of each unmanned ship. The conversion unit can convert the universal ID into a communication ID based on the ship information table for output;

[0064] The target information input by the input module includes the universal ID of the unmanned vessel and the corresponding target location coordinates;

[0065] Combine Figure 2 The system's control of the unmanned vessel includes initial control and fault-tolerant control. The initial control process includes the following steps:

[0066] S1. Input target information through the input module;

[0067] S2. The input module sends the universal IDs in the target information to the formation module in order;

[0068] S3, the formation module converts the universal ID into a communication ID and feeds it back to the input module;

[0069] S4, the input module sends the target information containing the communication ID to the transmitting module;

[0070] S5. The transmitting module sends activation information to the corresponding unmanned vessel according to the communication ID;

[0071] S6. After receiving the activation information, the unmanned ship detects the coordinates and heading angle of the unmanned ship and feeds them back to the transmitting module;

[0072] S7, the transmitting module sends the coordinates of the unmanned ship, the heading angle and the target location coordinates to the analyzing module;

[0073] S8. The analysis module calculates the steering angle and sends the steering angle to the corresponding unmanned vessel through the transmission module;

[0074] S9, the execution module of the unmanned ship performs a steering operation on the unmanned ship based on the steering angle, and then sails towards the target location;

[0075] The fault-tolerant control process includes the following steps:

[0076] S21, Combination Figure 3 The analysis module sets a fault tolerance area based on the starting coordinates and target coordinates of the unmanned vessel. The fault tolerance area is a rectangular area. The starting coordinates and the target coordinates are located at the center of the two shorter sides of the rectangular area. The length of the longer side of the rectangular area is called the mission distance, and half of the length of the shorter side of the rectangular area is called the fault tolerance distance. The relationship between the fault tolerance distance Dft and the mission distance Lam is:

[0077] Dft=d0+λ·lgLam;

[0078] Among them, d0 represents the basic distance, λ is the fault tolerance coefficient;

[0079] S22, the detection module uploads the detected data to the command and control center in real time;

[0080] S23, the analysis module calculates the wave impact factor based on the uploaded data, and the wave impact factor includes the lateral displacement rate and the yaw rate;

[0081] S24, the analysis module calculates a fault tolerance index based on the position of the unmanned vessel in the fault tolerance area, the lateral movement law, and the deflection rate;

[0082] S25. When the fault tolerance index is less than a threshold, the analysis module calculates a steering angle and sends the steering angle to the unmanned vessel;

[0083] S26. The execution module of the unmanned ship performs a steering operation on the unmanned ship based on the steering angle;

[0084] S27, continuously repeating steps S22 to S27 until the unmanned vessel reaches the target location;

[0085] The calculation formula of the lateral shift rate α is:

[0086]

[0087] Wherein, [t1, t2] is the time period corresponding to the lateral movement rate, d(t1) represents the distance between the unmanned ship and the channel axis at time t1, and d(t2) represents the distance between the unmanned ship and the channel axis at time t2. The channel axis is the line connecting the starting coordinates and the target coordinates, v is the speed of the unmanned ship, and θ(t) represents the functional relationship between the angle between the unmanned ship and the channel axis and time;

[0088] The calculation formula of the deflection rate β is:

[0089]

[0090] The calculation formula of the fault tolerance index Pw is:

[0091]

[0092] Among them, t now represents the current moment, L represents the distance between the unmanned ship and the target location;

[0093] The calculation formula of the steering angle Δθ in step S25 is:

[0094]

[0095] When the unmanned vessel performs a steering operation, the analysis module updates the time t1 used to calculate the lateral rate and the angular rate, and the time t2 is set to t now ;

[0096] Combine Figure 5 The analysis module includes a data storage unit and a calculation processing unit. The storage unit is used to store the detection information received at time t1 and after. When time t1 is updated, the storage unit clears the saved content and re-stores the detection information. The calculation processing unit is used to perform calculation tasks.

[0097] The contents disclosed above are only preferred feasible embodiments of the present invention and do not limit the scope of protection of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the scope of protection of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. A remote controlled unmanned vessel heading fault-tolerant control system, characterized in that: It includes execution module, receiving module, detection module, transmission module, analysis module, input module and formation module; The execution module, the receiving module and the detection module are installed on the unmanned vessel, the receiving module is used to receive instruction information, the execution module controls the steering of the unmanned vessel according to the instruction information, and the detection module is used to detect the navigation status information of the unmanned vessel; The transmitting module, the analyzing module, the input module and the formation module are installed in a command and control center. The transmitting module is used to transmit command information, the input module is used to input target information, the analyzing module calculates command parameters based on the target information and the navigation status of the unmanned vessel, and the formation module is used to record the communication identity information of the unmanned vessel. The analysis module sets a fault tolerance region, calculates the lateral movement rate and the angular rate according to the real-time navigation status data of the unmanned vessel, and calculates the fault tolerance index of the unmanned vessel based on the lateral movement rate and the angular rate. When the fault tolerance index is less than a threshold, the analysis module calculates the steering angle, and the execution module adjusts the heading of the unmanned vessel based on the steering angle. The analysis module includes a data storage unit and a calculation processing unit, wherein the storage unit is used to store the received detection information and the calculation processing unit is used to perform calculation tasks; The fault tolerance index The calculation formula is: ； in, represents the current moment, L represents the distance between the unmanned ship and the target location, is the speed of the unmanned ship, is the fault tolerance distance, is the distance between the unmanned ship and the channel axis of the fault tolerance area at the current moment, is the angle between the current heading of the unmanned ship and the channel axis of the fault tolerance area, is the lateral displacement rate, is the deflection rate.

2. A remote controlled unmanned vessel heading fault-tolerant control system according to claim 1, characterized in that: The navigation status information detected by the detection module includes the coordinates of the unmanned ship, the real-time heading angle of the unmanned ship, and the speed of the unmanned ship.

3. A remote controlled unmanned vessel heading fault-tolerant control system according to claim 2, characterized in that: The traverse rate The calculation formula is: ； The deflection rate The calculation formula is: ； in, is the time period corresponding to the lateral movement rate and the angular rate, It represents the functional relationship between the angle between the unmanned ship and the channel axis and time.

4. A method for fault-tolerant control of the course of a remote-controlled unmanned vessel, used in the control system according to claim 3, characterized in that: The steps include: S101, unmanned vessels upload navigation data in real time; S102, calculating the lateral displacement rate and the yaw rate according to the navigation data; S103, calculating a fault tolerance index; S104: Determine whether the heading needs to be adjusted based on the fault tolerance index. If so, calculate the steering angle. If not, jump back to step S102. S105: Adjust the heading according to the steering angle, clear the navigation data and then jump back to step S102.

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