Unmanned ship measurement route generation algorithm

Abstract

The embodiment of the invention provides an unmanned ship measurement route generation algorithm. The algorithm comprises the following steps: reading task parameters, USV state information, tracking point information and measurement time point information from related files; and in the process of sailing to the target point, measuring the tracking target according to the number of times of measurement and the measurement time, and generating a next target waypoint until reaching the sailing target point. A set of relatively complete track calculation program and application is designed, the measurement route can be reasonably planned according to the characteristics of the influence of objective environmental factors such as the measurement time, the measurement speed and the target threat coefficient required by a measurement task, and measurement equipment and test participating resources are effectively utilized. The main function of the method is that task parameters, USV state information, tracking target information and measurement opportunity point information are combined, calculation is carried out through an algorithm, a target point, namely a measurement route and a measurement opportunity state for guiding USV navigation are obtained, and the target point and the measurement opportunity state are output in a specified format.

Description

Technical Field

[0001] The invention relates to unmanned ship technology and navigation control fields, in particular to an unmanned ship measurement route generation algorithm. Background Art

[0002] As an independent water platform, unmanned ships rely on their own motion planning and control systems to perform various tasks in designated waters. However, when performing target measurement tasks, they are limited by their own range and communication distance, making it difficult for them to be manually intervened in real time. In order to overcome these limitations and improve the accuracy and reliability of environmental perception, unmanned ships are usually equipped with a variety of sensors, such as lidar, sonar, and cameras. The data from these sensors are organically combined through multi-sensor fusion technology to obtain more comprehensive environmental information, thereby supporting the autonomous navigation capabilities of unmanned ships.

[0003] Autonomous underwater detection tasks of unmanned ships include ocean mapping, underwater resource surveys, and environmental monitoring. The autonomous execution of these tasks not only saves a lot of manpower, material and financial resources, but also expands the scope of measurement and improves the safety of staff. In order to ensure that the measurement data of unmanned ships is more accurate, it is necessary to further optimize the route planning based on target detection to make it more consistent with the preset measurement route. Traditional planning methods are usually suitable for dealing with fixed obstacles and have a faster planning speed. However, they are difficult to adapt to dynamically changing factors such as targets and environments, and do not take into account the multiple constraints when unmanned ships are running.

[0004] In this context, the research on target measurement route generation algorithms becomes particularly critical. These algorithms can dynamically generate the best or optimal path based on the target location, environmental conditions, and the motion characteristics of the unmanned ship to achieve efficient execution of the task. It is worth noting that different tasks may require different path planning strategies, so the choice of algorithm should be based on the specific situation.

[0005] Target detection and tracking is another core component of autonomous underwater detection missions. This involves using computer vision technology, sonar technology, lidar and other sensors to detect and track targets in real time. Computer vision technology uses cameras and image processing technology to monitor the underwater environment and identify targets. Sonar technology has unique advantages in underwater environments. It can penetrate obstacles in the water and achieve detection and tracking of underwater targets.

[0006] In the process of target detection and tracking, multi-sensor fusion technology plays a key role. It allows unmanned ships to comprehensively utilize data from different sensors, improving the accuracy and robustness of target detection and tracking. For example, sonar can provide location information of underwater targets, while lidar can be used for distance measurement and cameras can be used for real-time image monitoring. By fusing this data, unmanned ships can better understand the surrounding environment and improve the efficiency of target detection and tracking.

[0007] The target measurement path generation algorithm for unmanned vessels is a complex and diverse field that involves multiple key aspects in autonomous underwater detection missions. From autonomous navigation to target detection and tracking, to multi-sensor fusion technology, all aspects need continuous innovation and improvement to meet the ever-changing mission requirements. Future research and development will continue to focus on how to achieve efficient measurement in dynamic environments to support further development in areas such as marine mapping, resource exploration, and environmental monitoring. At the same time, as technology advances, we can expect to see the application of more advanced target measurement path generation algorithms, thereby promoting greater achievements in the field of autonomous underwater detection. Summary of the invention

[0008] In view of the above problems existing in the prior art, the embodiment of the present invention provides a measurement route generation algorithm designed for unmanned ships, and designs a relatively complete track calculation program and application, which can reasonably plan the measurement route according to the characteristics of objective environmental factors such as the measurement time required for the measurement task, the measurement speed, and the target threat coefficient, and effectively utilize the measurement equipment and test resources. The main function is to combine the task parameters, USV status information, tracking target information, and measurement timing point information, and obtain the target point for guiding USV navigation, that is, the measurement route, and the measurement timing status through algorithm calculation, and output them in a specified format.

[0009] An embodiment of the present invention provides an algorithm for generating a measurement route for an unmanned ship, comprising:

[0010] S1: Read the mission parameters, USV status information, tracking point information and measurement time point information from the relevant files;

[0011] S2: During the navigation process towards the target point, the tracking target is measured based on the number of measurements and the measurement time, and the next target waypoint is generated until the navigation target point is reached.

[0012] In some embodiments of the present invention, in step S1, the unmanned ship measurement route generation algorithm includes:

[0013] Read in program status related parameters, the program status related parameters including: algorithm output status information, algorithm working status, input data status, output data status, interface data status description;

[0014] The algorithm working status is represented by true as normal and false as abnormal;

[0015] The input data status is 0 for normal information, 1 for incomplete information, and 2 for out-of-bounds data;

[0016] The output data state is represented by true as valid, and false as invalid;

[0017] The interface data status description is a specific text description of the code field.

[0018] In some embodiments of the present invention, in step S1, the unmanned ship measurement route generation algorithm further includes:

[0019] Read in the measurement target related parameters, which include: new measurement, true: first measurement, false: re-measurement; measurement speed, unit kn; measurement time, unit s; measurement path, if it is not the first measurement, the measurement path should be rotated relative to the boat-target line; target threat radius, unit m; target position longitude and latitude; boat current position longitude and latitude; boat current path heading angle, unit degree, range [0,360); path information, each waypoint position longitude and latitude coordinates, each waypoint speed, waypoint passing distance requirement, -1: determined according to the navigation control to point judgment logic, non-negative number: judge the point according to the input value, the default value is -1;

[0020] The newly created measurement is represented by true for the first measurement and false for the second measurement;

[0021] The measurement speed is in kn;

[0022] The measurement time is in seconds;

[0023] If the measurement path is not measured for the first time, the measurement path should be rotated relative to the boat-target line;

[0024] The target threat radius is in m;

[0025] The unit degree range of the heading angle of the current path of the boat is [0,360);

[0026] The path information represents the longitude and latitude coordinates of each waypoint;

[0027] The speed of each waypoint represents the distance requirement of the waypoint passing through the point, which is determined according to the flight control arrival judgment logic and is represented by -1. The arrival point is judged according to the input value and is represented by a non-negative number. The default value is -1.

[0028] In some embodiments of the present invention, in step S2, the unmanned ship measurement route generation algorithm specifically includes:

[0029] S21: During the navigation to the target point, the tracking target is continuously measured;

[0030] S22: Generate the next target waypoint according to the number of measurements, the measurement time, and whether the current target waypoint has been reached;

[0031] S23: Generate a measurement route and output the waypoints.

[0032] In some embodiments of the present invention, before step S1, the unmanned ship measurement route generation algorithm further includes:

[0033] Initialize a Boolean variable named bISquit to false to indicate whether the task has been completed. In the loop, the algorithm continuously executes the following steps S1 and S2 until the value of bISquit is true, indicating that the task is completed.

[0034] Compared with the prior art, the unmanned ship measurement route generation algorithm provided by the embodiment of the present invention has the beneficial effect that it proposes a solution for the unmanned ship dynamic target measurement task, and after being tested by test cases, the algorithm meets the performance requirements of actual engineering applications. It solves the problems of low precision and incomplete functions of the traditional measurement route generation algorithm. In the algorithm, the task parameters, USV attitude information, and tracking target parameters need to be frequently called, so these parameters are set as global variables to facilitate the calls of various sub-functions; for frequently used functions such as calculating the distance from a point to a straight line, converting the angle to between -π and π, etc., special sub-functions are designed to make the code concise and efficient; in the function Tracking_Change_OBJ_Measure for tracking track points, various constraints are fully considered, and the algorithm is reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the flow chart of an algorithm for generating a measurement route for an unmanned ship provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0037] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0038] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0039] It should also be understood that, although the present application has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present application that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0040] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0041] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to determine the true intent based on the user's historical operations and to avoid unnecessary or redundant details that make the present application unclear. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but are merely used as the basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0042] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0043] The embodiment of the present invention provides an algorithm for generating a route for unmanned ship measurement. Figure 1 As shown, the algorithm includes:

[0044] S1: Read the mission parameters, USV status information, tracking point information and measurement time point information from the relevant files;

[0045] In this embodiment, step S1 includes:

[0046] S11: Read program status related parameters. They include: -statusInfo: algorithm output status information; -workState: algorithm working status (true is normal, false is abnormal); -inputState: input data status (0 is normal information, 1 is incomplete information, 2 is data out of bounds); -outputState: output data status (true is valid, false is invalid); -msg: interface data status description can also be understood as a specific text description of the code field;

[0047] S12: Read in the parameters related to the measurement target. -newMeasure: true: first measurement, false: re-measurement; -measureSpeed: measurement speed, unit kn; -measureTime: measurement time, unit s; -measureRotation: if it is not the first measurement, the measurement path should be rotated relative to the boat-target line; -threatRadius: target threat radius, unit m; -targetPos: target position longitude and latitude; -vesPos: boat current position longitude and latitude; -pathAngle: boat current path heading angle, unit degree, range [0,360); -road: path information, coord: each waypoint position longitude and latitude coordinates, spd: each waypoint speed, acc: waypoint passing distance requirement, -1: determined according to the navigation control to point judgment logic, non-negative number: judge the point according to the input value, the default value is -1;

[0048] S2: During the navigation process towards the target point, the tracking target is measured based on the number of measurements and the measurement time, and the next target waypoint is generated until the navigation target point is reached.

[0049] In step S2, the unmanned ship measurement route generation algorithm specifically includes:

[0050] S21: During the navigation to the target point, the tracking target is continuously measured;

[0051] S22: Generate the next target waypoint according to the number of measurements, the measurement time, and whether the current target waypoint has been reached;

[0052] S23: Generate a measurement route and output the waypoints.

[0053] Before step S1, the unmanned ship measurement route generation algorithm further includes:

[0054] Initialize a Boolean variable named bISquit to false to indicate whether the task has been completed. In the loop, the algorithm continuously executes the following steps S1 and S2 until the value of bISquit is true, indicating that the task is completed.

[0055] In order to facilitate the understanding of the above technical solution, the above technical solution is described in detail below with reference to specific examples, as follows:

[0056] The theoretical basis of the measurement route generation algorithm is mainly the analytic geometry of the plane. According to the geometric relationship between the USV, the target point and the measurement time point, the corresponding measurement route is obtained in combination with the constraint conditions.

[0057] First, initialize a Boolean variable named bISquit to false. This variable will be used to indicate whether the task has been completed. In the main loop, the algorithm will continue to execute the following steps until the value of bISquit is true, indicating that the task is completed. Then the algorithm obtains a series of parameters from the outside, including task parameters, USV current status information, target information to be tracked, and information about the measurement timing point. After obtaining the input, the algorithm checks whether the measurement task has been started. If the measurement has not been performed, the distance from the current position of the unmanned ship (USV) to the intersection is calculated. If the USV has not reached the intersection, the algorithm will update the navigation target point OutPut_Tracking_Point to the current measurement point and let the USV move towards this point. At the same time, the measurement state MEASURE_STATE is set to 0, indicating that the measurement task has not been completed. If the USV has reached the intersection, the algorithm will update some related task parameters. Determine whether the number of measurements is less than the set number of measurements: Next, the algorithm checks whether the current number of measurements is less than the set number of measurements. If so, the following steps are performed: First, check whether the USV is sailing towards the target point. If the time taken for the measurement is still less than the maximum allowed measurement time, the algorithm will update the navigation target point OutPut_Tracking_Point to the target point and set the measurement state MEASURE_STATE to 0. If the time taken for the measurement has exceeded the maximum allowed measurement time, the algorithm will update some task-related parameters. In addition, the algorithm will determine an insertion point Insert_Target_Point. If the key point needs to be adjusted, the algorithm will calculate the distance from the current position of the USV to the insertion point. If the USV has not reached the insertion point, the algorithm will update the navigation target point OutPut_Tracking_Point to the insertion point and set the measurement state MEASURE_STATE to 0. Otherwise, the algorithm will update some task-related parameters.

[0058] The measurement task is completed: Finally, if the number of measurements reaches the set number of measurements, the algorithm performs the following steps:

[0059] If the USV has not reached the intersection point, the algorithm will update the navigation target point OutPut_Tracking_Point to the current measurement point and let the USV move towards this point.

[0060] Otherwise, the measurement state MEASURE_STATE is set to 1, indicating that the measurement task has been completed.

[0061] Finally, the algorithm outputs the navigation target point OutPut_Tracking_Point and the measurement timing state MEASURE_STATE for guiding the navigation of the USV. These outputs can be used to guide the navigation of the USV and monitor the progress of the measurement task.

[0062] The specific algorithm flow pseudo code is as follows:

[0063] Algorithm pseudo code:

[0064]

[0065]

[0066] The algorithm uses Qt as IDE and C++ as development language. According to the interface between middleware and algorithm, "libwampcc.so", "libwampcc_json.so", "libjansson.so", "libuv.so" and "libwsession.so" are used as external link libraries to complete the algorithm call and data transmission with the middleware. The algorithm usage process is as follows:

[0067] Copy bin / lib / libwsession.so.1 to / usr / lib64;

[0068] Enter ldd seri_MT in bin. If all links are normal, continue. Otherwise, the program cannot run normally and no subsequent operations are required.

[0069] Modify conf.json in the bin folder and adjust the IP and port;

[0070] Run "seri_MT" in the bin folder;

[0071] Remotely call " / 30003000 / 9 / 27" through the middleware;

[0072] View the measurement route results through the middleware.

[0073] It can be seen from the above technical solutions that the unmanned ship measurement route generation algorithm provided by the above embodiment of the present invention proposes a solution for the unmanned ship dynamic target measurement task. After being tested by test cases, the algorithm meets the performance requirements of actual engineering applications. It solves the problems of low precision and incomplete functions of the traditional measurement route generation algorithm. In the algorithm, parameters such as task parameters, USV posture information, and tracking targets need to be called frequently, so these parameters are set as global variables to facilitate the calls of various sub-functions; for frequently used functions such as calculating the distance from a point to a straight line, converting the angle to between -π and π, etc., special sub-functions are designed to make the code concise and efficient; in the function Tracking_Change_OBJ_Measure for tracking track points, various constraints are fully considered, and the algorithm is reasonable.

[0074] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. An algorithm for generating a route for unmanned ship survey, characterized in that: include: S1: Read the mission parameters, USV status information, tracking point information and measurement time point information from the relevant files; S2: During the navigation process towards the target point, the tracking target is measured based on the number of measurements and the measurement time, and the next target waypoint is generated until the navigation target point is reached.

2. The unmanned ship survey route generation algorithm according to claim 1, characterized in that: In step S1, the unmanned ship measurement route generation algorithm includes: Read in program status related parameters, the program status related parameters including: algorithm output status information, algorithm working status, input data status, output data status, interface data status description; The algorithm working status is represented by true as normal and false as abnormal; The input data status is 0 for normal information, 1 for incomplete information, and 2 for out-of-bounds data; The output data state is represented by true as valid, and false as invalid; The interface data status description is a specific text description of the code field.

3. The unmanned ship measurement route generation algorithm according to claim 2 is characterized in that: In step S1, the unmanned ship measurement route generation algorithm further includes: Read in the measurement target related parameters, which include: new measurement, true: first measurement, false: re-measurement; measurement speed, unit kn; measurement time, unit s; measurement path, if it is not the first measurement, the measurement path should be rotated relative to the boat-target line; target threat radius, unit m; target position longitude and latitude; boat current position longitude and latitude; boat current path heading angle, unit degree, range [0,360); path information, each waypoint position longitude and latitude coordinates, each waypoint speed, waypoint passing distance requirement, -1: determined according to the navigation control to point judgment logic, non-negative number: judge the point according to the input value, the default value is -1; The newly created measurement is represented by true for the first measurement and false for the second measurement; The measurement speed is in kn; The measurement time is in seconds; If the measurement path is not measured for the first time, the measurement path should be rotated relative to the boat-target line; The target threat radius is in meters; The unit degree range of the heading angle of the current path of the boat is [0,360); The path information represents the longitude and latitude coordinates of each waypoint; The speed of each waypoint represents the distance requirement of the waypoint passing through the point, which is determined according to the flight control arrival judgment logic and is represented by -1. The arrival point is judged according to the input value and is represented by a non-negative number. The default value is -1.

4. The unmanned ship survey route generation algorithm according to claim 3 is characterized in that: In step S2, the unmanned ship measurement route generation algorithm specifically includes: S21: During the navigation to the target point, the tracking target is continuously measured; S22: Generate the next target waypoint according to the number of measurements, the measurement time, and whether the current target waypoint has been reached; S23: Generate a measurement route and output the waypoints.

5. The unmanned ship survey route generation algorithm according to claim 4, characterized in that: Before step S1, the unmanned ship measurement route generation algorithm further includes: Initialize a Boolean variable named bISquit to false to indicate whether the task has been completed. In the loop, the algorithm continuously executes the following steps S1 and S2 until the value of bISquit is true, indicating that the task is completed.

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