A measurement task planning method based on unmanned platform multi-boat coordination

Abstract

The present application relates to a kind of measurement task planning methods based on unmanned platform multi-boat coordination, comprising the following steps: step 1, for the need of offshore unmanned measurement operation, confirm measurement task principle;Step 2, according to the chart, the measurement area is reconstructed;Step 3, based on the principle of step 1, for the reconstructed measurement area obtained in step 2, using the spiral contraction distribution of suitable unmanned platform, the survey line of measurement task is divided, and then the multi-boat measurement task planning is completed.The present application is simple and efficient, fast and easy to calculate, can reduce the mutual influence between each platform of measurement task, and then reduce the complexity of the whole measurement process, improve the feasibility of measurement scheme and the stability of process control.

Description

Technical Field

[0001] This invention belongs to the field of surface measurement technology of heterogeneous multi-vessel unmanned surface platforms, and relates to a multi-vessel coordinated measurement task planning method, especially a multi-vessel coordinated measurement task planning method based on unmanned platforms. Background Technology

[0002] Current research on the navigation control and functionalization of multi-functional unmanned surface platforms has deepened, and the application of these platforms is gradually being promoted. Currently, how to effectively plan the use of unmanned platforms and rationally allocate various heterogeneous unmanned platforms for different application scenarios has become an important research direction for the application of new technologies.

[0003] Surface surveying is a common operational scenario for surface platforms. In this scenario, the surveying area is defined as a rectangular area, which makes it possible to make generalized route planning.

[0004] However, existing multi-vessel coordination measurement mission planning methods based on unmanned platforms still have the following shortcomings and deficiencies: Current research in the measurement field mainly focuses on single-vessel navigation control, with limited research on multi-vessel coordination in unmanned maritime measurement. Current research on multi-vessel coordination is more focused on formation control and other areas, which is not applicable to measurement applications.

[0005] To address the aforementioned issues and considering the characteristics of surface measurement, this invention proposes a general method for coordinating multi-vessel measurement tasks using unmanned surface platforms, providing a solution for the comprehensive application of heterogeneous unmanned platforms in the field of measurement. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and, in view of the characteristics of multi-vessel collaborative measurement, propose a measurement task planning method based on unmanned platform to solve the technical problem of multi-vessel heterogeneous measurement in simple scenarios.

[0007] The present invention solves its practical problem by adopting the following technical solution:

[0008] A multi-vessel coordinated measurement mission planning method based on an unmanned platform includes the following steps:

[0009] Step 1: Determine the principles of the measurement task in accordance with the needs of unmanned marine measurement operations;

[0010] Step 2: Reconstruct the measurement area based on the nautical chart;

[0011] Step 3: Based on the principle in Step 1, for the reconstructed measurement area obtained in Step 2, use the inner spiral contraction type distribution sounding lines suitable for the unmanned platform to divide the sounding lines for the measurement task, and then complete the multi-boat measurement task planning.

[0012] Moreover, the measurement task principles in Step 1 include:

[0013] The principle of consistent operation time, the principle of applicability of measurement equipment, and the principle of non-crossing and non-interfering sounding lines.

[0014] Moreover, the specific method in Step 2 is as follows:

[0015] Use the nautical chart to discretize the line where the irregular boundary surface intersects the measurement area boundary, blur the boundary by n times the turning diameter of the device with the largest measurement width, extract the convex points on the contour intersection line as the base points, connect each base point, and process the irregular boundary that the unmanned platform cannot reach into a reachable and measurable regular boundary line.

[0016] Moreover, the specific steps in Step 3 include:

[0017] (1) According to the effective measurement width of the unmanned platform participating in the measurement, obtain the measurement range of the unmanned platform per unit time;

[0018] Assume that the unmanned platform participating in the measurement is Plan i (i < n, n is the number of unmanned platforms), its corresponding effective measurement width is Plan i MW, and the best measurement speed is Plan i MV, then the theoretical measurement range of the unmanned platform Plan i per unit time is ΔSPlan i = Plan i MW * Plan i MV.

[0019] (2) Evaluate whether the task can be completed within the specified time;

[0020] According to the principle of consistent operation time in Step 1, divide the entire measurement area. The division method is as follows: Assume that it is required to complete the measurement of the entire measurement area within time t, then Plan i The theoretical measurement area SPlan i completed by Plan within t time = t * ΔSPlan i , if the area of the reconstructed measurement area in Step 2 is S, then SPlan i * k > S, it is determined that the task can be completed, where k is the measurement system coefficient (0 < k < 1) and is used as the completion coefficient;

[0021] Based on the matching and division of the area in step 2, the parts with irregular boundaries are given priority to unmanned platforms with shallow draft and large measurement range;

[0022] One special case is that if the reconstructed boundary of the survey area is concave, it is necessary to process it in conjunction with the concave polygons, and divide the concave deformation into multiple convex polygons.

[0023] (3) Based on the above-mentioned preliminary SPLAN i The survey lines within the survey area are planned in a spiral-shrinking pattern to divide the survey lines for the survey tasks, thereby completing the planning of multi-vessel survey tasks;

[0024] Furthermore, the specific steps of the planning method in step 3 (3) include:

[0025] ① Select the measurement starting point for each unmanned platform: The mother ship deploys all operational unmanned platforms at once at the boundary of the survey area. The deployment position of the mother ship is in the middle of the edge of the survey area. The starting point (P_start) of the measurement line for each unmanned platform is the position close to the boundary of the deployment point, shifted inward by 1 / 2 Plan. i MW.

[0026] ② Confirm each measurement point: Confirm the relative azimuth angle between each point in each measurement area in step 2, obtain the lengths of each line segment of the boundary line n deformation long_1, long_2, long_3, long_n and the relative azimuth angles between each endpoint a_1, a_2, a_3, a_n, and the total length of the measurement line is long_Plan_i.

[0027] The spacing of the first spiral layer near the boundary is

[0028]

[0029] Using the starting point as a reference, calculate the latitude and longitude p1 of the point at a long_1 distance from azimuth a, and add this point to the waypoint queue P. K ,

[0030] long_Plan_i += long_1;

[0031] }

[0032]

[0033] Using P_k as the base point, calculate the long_2 coordinates of the a2 direction. Using the starting point as the reference, calculate the long_2 distance P from the a2 direction. K+1 Add the point to the waypoint queue.

[0034] long_Plan_i += long_2;

[0035] }

[0036] ...

[0037]

[0038] Using pi-1 as the base point, calculate the ai bearing long_i. Using the starting point as the reference, calculate the latitude and longitude pi of the point at which the ai bearing is long_2, and add this point to the waypoint queue.

[0039] long_Plan_i += long_i;

[0040] }

[0041] Starting from the second spiral, the interval is Plan_i_MW, until the spiral ends.

[0042] while(long_1>Plan i MW||long_2>Plan i MW||…||long_n>

[0043] Plan i MW){

[0044] if (long_1>Plan) i MW){

[0045] long_1 -= Plan i MW / |sina|;

[0046] Using pi as the reference, calculate the latitude and longitude P of the point at a long_1 distance from a. i+1 Add the point to the waypoint queue.

[0047] long_Plan_i += long_1;

[0048] }

[0049] if (long_2>Plan) i MW){

[0050] long2-=Plan i MW / |sina2||;

[0051] With P i+1 Using the starting point as the reference point, calculate the latitude and longitude P of the point with a long_2 distance from the starting point to the a direction. i+2 Add the point to the waypoint queue;

[0052] long_Plan_i += long_2;

[0053] }

[0054] ...

[0055] if (long_i>Plan) i MW){

[0056] long_i -= Plan i MW / |sina i |;

[0057] With P i+k Using the starting point as the reference point, calculate the latitude and longitude P of the point with a long_2 distance from the starting point to the ai orientation. i+k+1 Add the point to the waypoint queue;

[0058] long_Plan_i += long_i;

[0059] }

[0060] ③ Connecting the measurement points sequentially forms the final inner spiral contraction distribution survey line, thus completing the multi-vessel measurement task planning.

[0061] Furthermore, the following steps are included after step 3:

[0062] Step 4: Based on the multi-vessel measurement mission planning results in Step 3 and the principles in Step 1, evaluate the mission completion rate;

[0063] Furthermore, the specific steps of step 4 include:

[0064] (1) When using the inflection point of the internal spiral contraction type distributed survey line, there will be places where repeated measurements will occur, especially in the inflection points of polygonal irregular survey areas. It is necessary to calculate the time required to complete the measurement of the survey area divided proportionally according to the theoretical measurement area to determine whether it can be completed within the specified time:

[0065] T Plani = long_Plan_i / Plan i MW

[0066] If T Plani If all values ​​are less than the required completion time t, it means the current task can be completed; otherwise, the measurement plan or measurement area needs to be adjusted.

[0067] (2) At the same time, the consistency of the completion time of each unmanned platform is verified. The verification process is as follows:

[0068] The root mean square (RMS) of the difference between the actual measurement time and the theoretical completion time for each unmanned platform was processed.

[0069] For Plani Theoretical completion time is

[0070]

[0071] in, and

[0072] if Less than It is then assumed that the actual measurement satisfies the consistency principle.

[0073] At the same time, calculate the average. and It can be used as an indicator to judge the quality of a measurement plan; the smaller the value, the better the measurement plan.

[0074] Advantages and beneficial effects of the present invention:

[0075] 1. This invention addresses the problem that current unmanned surface platforms (USPs) are produced in small batches and are customized based on load characteristics, leading to significant differences among USPs participating in measurement tasks. Taking into account this heterogeneous nature of USPs and the specific measurement execution processes such as deployment and retrieval, this invention proposes a multi-vehicle coordination measurement task planning method based on USPs in measurement scenarios. This method is simple, efficient, and quick to solve, reducing mutual interference between platforms in the measurement task, thereby reducing the complexity of the entire measurement process and improving the feasibility of the measurement scheme and the stability of process control.

[0076] 2. This invention, considering the heterogeneity of current unmanned platforms, analyzes the execution process of measurement tasks and summarizes it from a macro-level perspective. It innovatively proposes the following principles for multi-vehicle coordinated measurement tasks: 1. Consistent operation time principle; 2. Applicability of measurement equipment principle; 3. No cross-interference between measurement lines principle. Furthermore, these principles can serve as the overall requirements for measurement tasks and become the core evaluation indicators for the final assessment of task completion, thus standardizing and quantifying the effective collaboration of heterogeneous unmanned platforms.

[0077] 3. Based on the principles of step 1, this invention creatively transforms the traditional UAV extended survey lines into survey lines with an internal spiral contraction distribution suitable for unmanned platforms in step 3, and describes the method for generating the survey lines. This method is simple, efficient, and fast in calculation, generating fewer inflection points, which can reduce measurement gaps caused by the rotation of the unmanned platform during measurement, thereby improving the overall measurement quality.

[0078] 4. Based on the principles of step 1, this invention proposes a task completion evaluation method in step 4, and formulates quantitative indicators to evaluate measurement tasks. Furthermore, this evaluation method can not only be used to assess whether the current measurement task can be completed, but also to evaluate the merits of different measurement tasks, providing a basis for further optimizing measurement schemes and participating in the selection of unmanned operational platforms. Attached Figure Description

[0079] Figure 1 This is a schematic diagram illustrating the measurement principle of the present invention;

[0080] Figure 2 This is a flowchart of the measurement scheme planning method of the present invention;

[0081] Figure 3 This is a schematic diagram showing that the normal measurement area of ​​the present invention is a regular rectangle;

[0082] Figure 4 This is a schematic diagram of the nearshore or chamfered irregular boundary treatment method of the present invention;

[0083] Figure 5 This is a schematic diagram of the survey line for the internal spiral contraction distribution of the present invention;

[0084] Figure 6 This is a schematic diagram of the reconstructed survey area distribution according to the present invention;

[0085] Figure 7 This is a schematic diagram of the survey line distribution for a specific implementation of the present invention. Detailed Implementation

[0086] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings:

[0087] A multi-vessel coordinated measurement task planning method based on an unmanned platform, such as Figure 2 As shown, it includes the following steps:

[0088] Step 1: Determine the principles of the measurement task in accordance with the needs of unmanned marine measurement operations;

[0089] The measurement task principles in step 1 include:

[0090] The principles of consistent operation time, applicability of measuring equipment, and non-interference of survey lines are followed.

[0091] In this embodiment, as Figure 1 As shown, the three principles in step 1 are explained and defined as follows:

[0092] During surveying, the deployment and retrieval of unmanned platforms is an essential but time-consuming step. In near-shore surveys, deployment and retrieval can be carried out at a nearby dock. However, in open water surveys, multiple unmanned platforms are typically deployed from a single mother ship. Compared to deploying and retrieval platforms in multiple locations, completing the deployment and retrieval of all participating platforms in one location significantly reduces repetitive tasks such as moving the mother ship and preparing the deck, thereby improving the overall efficiency of the deployment and retrieval operation. Therefore, the principle of consistent operation time is proposed, ensuring that the completion time of each platform is as consistent as possible to facilitate deployment and retrieval.

[0093] In multi-vessel surveying, heterogeneous unmanned platforms equipped with different devices are required depending on the operational needs. Each platform differs in its functional design and usage, taking into account its respective surveying equipment. For example, unmanned platforms equipped with towed equipment have high requirements for turning radius and surrounding environment during navigation. The signal cables of towed equipment are often long, reaching tens of meters in deep water, making small-scale maneuvers impossible when encountering interference, requiring advance avoidance and often resulting in significant deviations from the survey line, leading to measurement failure. Therefore, if the survey lines of multiple participating unmanned platforms intersect, it will cause significant interference to control and information acquisition during the survey, and may even lead to measurement interruption. Therefore, proposing the principles of surveying equipment suitability and non-intersecting survey lines can reduce mutual influence between platforms in the surveying task, thereby reducing the complexity of the entire measurement process and improving the feasibility of the measurement scheme and the stability of process control.

[0094] Step 2: Reconstruct the measurement area based on the nautical chart;

[0095] Furthermore, the specific method for step 2 is as follows:

[0096] By using nautical charts to discretize the lines where irregular boundary surfaces intersect with the boundary of the survey area, and by blurring the boundary with n times the turning diameter of the equipment with the largest measurement width, the convex points on the contour intersection line are extracted as base points. By connecting the base points, the irregular boundary that the unmanned platform cannot reach is processed into a regular boundary line that is reachable and measurable.

[0097] In this embodiment, the reconstruction of the measurement area in step 2 is explained as follows:

[0098] In actual measurement tasks, the measurement operation area is often a rectangular sea area, such as... Figure 3 As shown, if the survey area involves islands, reefs, or near the coast, irregular survey area boundaries will appear. Some irregular areas cannot be reached by the measurement platform or pose measurement risks. Therefore, it is necessary to process these irregular boundaries to make them suitable for unmanned platforms to carry out measurement work.

[0099] Discretize the lines where the irregular boundary surface intersects the survey area boundary using a nautical chart, blur the boundary with n times the turning diameter of the device with the largest measurement width, extract the convex points on the contour intersection line as base points, connect each base point, and process the irregular boundaries that the unmanned platform cannot reach into reachable and measurable regular boundary lines, such as Figure 4 shown.

[0100] Step 3: Based on the principle of Step 1, for the reconstructed measurement area obtained in Step 2, use survey lines distributed in an inner spiral contraction pattern suitable for the unmanned platform to divide the survey lines for the measurement task, and then complete the multi-boat measurement task planning;

[0101] Moreover, the specific steps of Step 3 include:

[0102] (1) Obtain the measurement range of the unmanned platform per unit time based on the effective measurement width of the unmanned platform participating in the measurement;

[0103] Assume that the unmanned platform participating in the measurement is Plan i (i < n, n is the number of unmanned platforms), and its corresponding effective measurement width is Plan i MW, and the optimal measurement speed is Plan i MV. Then, for the unmanned platform Plan i the theoretical measurement range per unit time is ΔSPlan i = Plan i MW * Plan i MV.

[0104] (2) Evaluate whether the task can be completed within the specified time;

[0105] According to the principle of consistent operation time in Step 1, divide the entire survey area. The division method is as follows: Assume that it is required to complete the measurement of the entire survey area within time t. Then Plan i the theoretical survey area SPlan i completed within t time = t * ΔSPlan i . If the area of the reconstructed measurement area in Step 2 is S, and SPlan i * k > S, it is determined that the task can be completed. k is the measurement system coefficient (0 < k < 1) and is used as the completion coefficient;

[0106] Match and divide the area in Step 2 according to SPlan i , and preferentially divide the part with an irregular boundary to the unmanned platform with a shallow draft and a large measurement range;

[0107] One special case is that if the survey area is reconstructed with a concave boundary, it is necessary to process it in conjunction with the concave polygons, dividing the concave deformation into multiple convex polygons.

[0108] (3) Plan the spiral-shrinking distribution of survey lines within the pre-defined S_Plan_i survey area, divide the survey lines for the measurement task, and then complete the multi-vessel measurement task planning.

[0109] The specific steps of the planning method in step 3 (3) include:

[0110] ① Select the measurement starting point for each unmanned platform: The mother ship deploys all the unmanned platforms at the boundary of the survey area. The deployment position of the mother ship is in the middle of the edge of the survey area. The starting point (P_start) of the measurement line of each unmanned platform is the boundary position close to the deployment point, and is shifted inward by 1 / 2 Plan_i_MW.

[0111] ② Confirm each measurement point: Confirm the relative azimuth angle between each point in each measurement area in step 2, obtain the lengths of each line segment of the boundary line n deformation long_1, long_2, long_3, long_n and the relative azimuth angles between each endpoint a_1, a_2, a_3, a_n, and the total length of the measurement line is long_Plan_i.

[0112] The spacing of the first spiral layer near the boundary is Plan_i_MW / 2.

[0113] The spacing of the first spiral layer near the boundary is

[0114]

[0115] Using the starting point as a reference, calculate the latitude and longitude p1 of the point at a long_1 distance from azimuth a, and add this point to the waypoint queue P. K ,

[0116] long_Plan_i += long_1;

[0117] }

[0118]

[0119] Using P_k as the base point, calculate the long_2 coordinates of the a2 direction. Using the starting point as the reference, calculate the long_2 distance P from the a2 direction. K+1 Add the point to the waypoint queue.

[0120] long_Plan_i += long_2;

[0121] }

[0122] ...

[0123]

[0124] Using pi-1 as the base point, calculate the ai bearing long_i. Using the starting point as the reference, calculate the latitude and longitude pi of the point at which the ai bearing is long_2, and add this point to the waypoint queue.

[0125] long_Plan_i += long_i;

[0126] }

[0127] Starting from the second spiral, the interval is Plan_i_MW, until the spiral ends.

[0128] while(long_1>Plan i MW||long_2>Plan i MW||…||long_n>

[0129] Plan i MW){

[0130] if (long_1>Plan) i MW){

[0131] long_1 -= Plan i MW / |sina|;

[0132] Using pi as the reference, calculate the latitude and longitude P of the point at a long_1 distance from a. i+1 Add the point to the waypoint queue.

[0133] long_Plan_i += long_1;

[0134] }

[0135] if (long_2>Plan) i MW){

[0136] long2-=Plan i MW / |sina2||;

[0137] With P i+1 Using the starting point as the reference point, calculate the latitude and longitude P of the point with a long_2 distance from the starting point to the a direction. i+2 Add the point to the waypoint queue;

[0138] long_Plan_i += long_2;

[0139] }

[0140] ...

[0141] if (long_i > Plan i MW) {

[0142] long_i -= Plan i MW / |sin a i |;

[0143] Taking P i+k as the base point, calculate the longitude and latitude of the point with the long_2 distance of the ai azimuth calculated based on the starting point as the reference, and add this point to the waypoint queue; i+k+1

[0144] long_Plan_i += long_i;

[0145] }

[0146] ③ Connect each measurement point in sequence, and it is the final inner spiral contraction type distribution survey line.

[0147] In this embodiment, the effect of the generated inner spiral contraction type distribution survey line is as Figure 5 shown.

[0148] In this embodiment, the multi-boat measurement task planning in step 3 is described as follows:

[0149] In this planning, a survey line with an inner spiral contraction type distribution will be adopted. The characteristics of this survey line are: it can directly enter from the boundary of the survey area, and the survey lines can be arranged by referring to the sub-block method, and it can well comply with the measurement equipment applicability principle and the non-crossing and non-interfering principle of the survey lines in step 1. Moreover, the position of the unmanned platform after the measurement stays near the center of the survey area where the platform is located, which is beneficial to the recovery of the unmanned platform after the measurement.

[0150] For the measurement area obtained in step 2, conduct the survey line division of the measurement task.

[0151] Based on the effective measurement width of the unmanned platforms participating in the measurement, the measurement range of the unmanned platforms per unit time can be obtained. Assume that the unmanned platforms participating in the measurement are Plan i (i < n, n is the number of unmanned platforms), and their corresponding effective measurement widths are Plan i MW, and the best measurement speed is Plan i MV. Then the theoretical measurement range of the unmanned platform Plan i per unit time is ΔSPlan i = Plan i MW * Plan i MV.

[0152] ​First, evaluate whether the task can be completed within the specified time;

[0153] According to the principle of consistent operation time in step 1, divide the entire survey area. The division method is as follows: Assume that it is required to complete the measurement of the entire survey area within time t, then Plan i The theoretical survey area SPlan that can be completed within time t i = t * ΔSPlan i , if the area of the reconstructed measurement area in step 2 is S, then SPlan i * k > S, it is determined that the task can be completed. k is the measurement system coefficient (0 < k < 1) and is used as the completion coefficient.

[0154] Based on SPlan i Match and divide the area in step 2. Irregular areas are close to the shore or reefs, and there are likely to be reefs below the water surface. Considering the navigation safety during the measurement process, the part with irregular boundaries is preferentially divided into unmanned platforms with shallow draft and large measurement ranges to reduce the navigation risk at irregular boundaries. As Figure 6 shown.

[0155] There is a special case. If the reconstructed survey area has a concave boundary, it needs to be processed in combination with the concave polygon, and the concave polygon is divided into multiple convex polygons for processing.

[0156] Again, in the above-mentioned SPlan that has been preliminarily divided i Plan spiral contraction type survey lines within the survey area. The planning method is as follows:

[0157] 1. Select the measurement starting points of each unmanned platform. The mother ship deploys all the operating unmanned platforms at one time on the boundary of the survey area. The deployment position of the mother ship is at the middle position of the edge of the survey area. The starting point (P_start) of the survey line of each unmanned platform is at the position of the boundary close to the deployment point, and is translated inward by 1 / 2 of Plan_i_MW.

[0158] 2. Confirm each measurement point.

[0159] Confirm the relative azimuth angles between the points in each survey area in step 2, obtain the lengths long_1, long_2, long_3, long_n of each segment of the boundary line n deformation and the relative azimuth angles a_1, a_2, a_3, a_n between each end point. The total length of the survey line is long_Plan_i. Starting from the starting measurement point, iterate to obtain each waypoint according to the relative azimuth and relative distance of each segment of the boundary contour:

[0160] The first layer of spiral spacing close to the boundary is Plan_i_MW / 2,

[0161] The spacing of the first spiral layer near the boundary is

[0162]

[0163] Using the starting point as a reference, calculate the latitude and longitude p1 of the point at a long_1 distance from azimuth a, and add this point to the waypoint queue P. K ,

[0164] long_Plan_i += long_1;

[0165] }

[0166]

[0167] Using P_k as the base point, calculate the long_2 coordinates of the a2 direction. Using the starting point as the reference, calculate the long_2 distance P from the a2 direction. K+1 Add the point to the waypoint queue.

[0168] long_Plan_i += long_2;

[0169] }

[0170] ...

[0171]

[0172] Using pi-1 as the base point, calculate the ai bearing long_i. Using the starting point as the reference, calculate the latitude and longitude pi of the point at which the ai bearing is long_2, and add this point to the waypoint queue.

[0173] long_Plan_i += long_i;

[0174] }

[0175] Starting from the second spiral, the interval is Plan_i_MW, until the spiral ends.

[0176] while(long_1>Plan i MW||long_2>Plan i MW||…||long_n>

[0177] Plan i MW){

[0178] if (long_1>Plan) i MW){

[0179] long_1 -= Plan i MW / |sina|;

[0180] Using pi as the reference, calculate the latitude and longitude P of the point at a long_1 distance from a. i+1 Add the point to the waypoint queue.

[0181] long_Plan_i += long_1;

[0182] }

[0183] if (long_2>Plan) i MW){

[0184] long2-=Plan i MW / |sina2||;

[0185] With P i+1 Using the starting point as the reference point, calculate the latitude and longitude P of the point with a long_2 distance from the starting point to the a direction. i+2 Add the point to the waypoint queue;

[0186] long_Plan_i += long_2;

[0187] }

[0188] ...

[0189] if (long_i>Plan) i MW){

[0190] long_i -= Plan i MW / |sina i |;

[0191] With P i+k Using the starting point as the reference point, calculate the latitude and longitude P of the point with a long_2 distance from the starting point to the ai orientation. i+k+1 Add the point to the waypoint queue;

[0192] long_Plan_i += long_i;

[0193] }

[0194] Connect the measuring points in each measuring area sequentially to form the final measuring line, such as... Figure 7 As shown.

[0195] Step 4: Based on the multi-vessel measurement mission planning results in Step 3 and the principles in Step 1, evaluate the mission completion rate;

[0196] The specific steps for step 4 include:

[0197] (1) When using the inflection point of the internal spiral contraction type distributed survey line, there will be places where repeated measurements will occur, especially in the inflection points of polygonal irregular survey areas. It is necessary to calculate the time required to complete the measurement of the survey area divided proportionally according to the theoretical measurement area to determine whether it can be completed within the specified time:

[0198] T Plani = long_Plan_i / Plan i MW

[0199] (2) At the same time, the consistency of the completion time of each unmanned platform is verified. The verification process is as follows:

[0200] The root mean square (RMS) of the difference between the actual measurement time and the theoretical completion time for each unmanned platform was processed.

[0201] For Plan i Theoretical completion time is

[0202]

[0203] in, and

[0204] if Less than It is then assumed that the actual measurement satisfies the consistency principle.

[0205] At the same time, calculate the average Plan i and It can be used as an indicator to judge the quality of a measurement plan; the smaller the value, the better the measurement plan.

[0206] The invention will be further illustrated below with specific examples:

[0207] Taking a certain survey area and its boundary as an example, two unmanned platforms are deployed to detect a rectangular area with an irregular boundary line along the shore. The boundary length is 1680m × 1120m, and the measurement must be completed within 2 hours. In this test case, the effective measurement width of both unmanned platforms is 80m, the optimal measurement speed is 4.5kn, and the turning radius is approximately 300m.

[0208] First, the irregular boundary is blurred and the survey area is reconstructed: there is no small curvature boundary at the boundary, so the boundary convex point is selected and the boundary tangent is selected for boundary modulus equivalence processing.

[0209] The theoretical completion time is calculated to be approximately 1.21 hours. Taking the measurement task completion coefficient as 0.9, the theoretical completion time of 1.21 hours is less than the product of the required time and the coefficient, which is 1.8 hours. Therefore, the measurement plan is considered feasible.

[0210] Secondly, the measurement task planning for the two unmanned platforms: Considering that the relative measurement width and optimal measurement speed of the two unmanned platforms are the same, the reconstructed measurement area can be equally allocated to the two unmanned platforms, and the measurement lines can be planned sequentially according to the inward spiral contraction distribution. The middle position of the two sub-measurement areas on the left boundary of the entire measurement area is selected as the deployment point. The starting point of measurement areas 1 and 2 is at 1 / 2 of the measurement width. According to the inward spiral contraction distribution measurement line algorithm, starting from the starting point, the relative azimuth and relative distance of each line segment of the boundary contour are iteratively obtained to obtain each waypoint. Connecting each waypoint several times gives the measurement line of each sub-measurement area, which can be obtained as follows. Figure 5 The results are shown.

[0211] Then, a feasibility study was performed: the theoretical measurement time for both survey areas was 1.21 hours. The calculated route length for survey area 2 was approximately 6.12 nautical miles, and for survey area 2, it was approximately 5.76 nautical miles. The actual measurement time for survey area 1 was approximately 1.36 hours, and for survey area 2, it was approximately 1.28 hours. Therefore, the completion rate was 0.117, which is less than 10% of the 2-hour completion time. The generated measurement plan was therefore considered to meet the mission requirements.

[0212] The working principle of this invention is:

[0213] This invention proposes a general method for multi-vessel coordinated measurement task planning for unmanned surface platforms. Considering the characteristics of surface measurement, it proposes operational principles for multi-vessel participation: consistent operation time, applicability of measurement equipment, and non-interference of measurement lines. Furthermore, it proposes a measurement area reconstruction method, an internal spiral contraction distribution method for task measurement line planning, and a task completion evaluation method, providing a solution for the comprehensive application of heterogeneous unmanned platforms in the field of measurement.

[0214] It should be emphasized that the embodiments described in this invention are illustrative rather than limiting. Therefore, this invention includes, but is not limited to, the embodiments described in the specific implementation. Any other implementations derived by those skilled in the art based on the technical solutions of this invention are also within the scope of protection of this invention.

Claims

1. A multi-vessel coordinated measurement task planning method based on an unmanned platform, characterized in that: Includes the following steps: Step 1: Determine the principles of the measurement task in accordance with the needs of unmanned marine measurement operations; Step 2: Reconstruct the measurement area based on the nautical chart; Step 3: Based on the principles of Step 1, for the reconstructed measurement area obtained in Step 2, use a spiral-shaped distribution of survey lines suitable for unmanned platforms to divide the survey lines for the measurement task, thereby completing the multi-vehicle measurement task planning. The specific steps of step 3 include: (1) Based on the effective measurement width of the unmanned platform participating in the measurement, obtain the measurement range of the unmanned platform per unit time; Assume that the unmanned platform participating in the measurement is , i < n, where n is the number of unmanned platforms, and its corresponding effective width measurement is , the optimal measurement speed is , then the unmanned platform is The theoretical measurement range per unit time is ; (2) Evaluate whether the task can be completed within the specified time; According to the principle of consistent operation time in Step 1, the entire survey area is divided as follows: Assume that it is required to complete the measurement of the entire survey area within time t, then The theoretical survey area completed within time t , if the area of the reconstructed measurement area in Step 2 is S, then , it is determined that the task can be completed. k is the measurement system coefficient, 0 < k < 1, which is used as the completion coefficient; Based on the matching and division of the area in step 2, the parts with irregular boundaries are given priority to unmanned platforms with shallow draft and large measurement range; One special case is that if the reconstructed boundary of the survey area is concave, it is necessary to process it in conjunction with the concave polygons, and divide the concave deformation into multiple convex polygons. (3) Based on the above preliminary division The survey lines within the survey area are planned in a spiral-shrinking pattern to divide the survey lines for the survey tasks, thereby completing the planning of multi-vessel survey tasks; The specific steps of the planning method in step 3 (3) include: ① Select the measurement starting point for each unmanned platform: The mother ship deploys all operating unmanned platforms at once at the boundary of the survey area. The deployment position of the mother ship is in the middle of the edge of the survey area. The starting point P_start of the measurement line for each unmanned platform is the position close to the boundary of the deployment point, shifted inward by 1 / 2. ; ② Confirm each measurement point: Confirm the relative azimuth angles between each point in each measurement area in step 2, obtain the lengths of each side of the n-sided boundary line long_1, long_2, long_3, ..., long_n, and the relative azimuth angles a_1, a_2, a_3, ..., a_n between each endpoint, and the total length of the measurement line is long_Plan_i; The spacing of the first spiral layer near the boundary is , if(long_1 > ){ long_1 -= ; Using the starting point as a reference, calculate the latitude and longitude p1 of the point at a distance of long_1 from azimuth 'a', and add this point to the waypoint queue. , long_Plan_i += long_1; } if(long_2 > ){ long_2 -= ; Using P_k as the base point, calculate the long_2 coordinates of a2. Using the starting point as the reference, calculate the long_2 coordinates of the point in the direction of a. Add the point to the waypoint queue. long_Plan_i += long_2; } …… if(long_i > ){ long_i -= ; Using pi-1 as the base point, calculate the bearing long_i of ai. Using the starting point as the reference, calculate the latitude and longitude pi of the point at a distance long_2 from the bearing of ai, and add the point to the waypoint queue. long_Plan_i += long_i; } Starting from the second spiral, the interval is Plan_i_MW, until the spiral ends; while(long_1 > || long_2 > || …|| long_n > ){ if(long_1 > ){ long_1 -= ; Using pi as the reference, calculate the latitude and longitude of the point at a long_1 distance from 'a'. Add the point to the waypoint queue. long_Plan_i += long_1; } if(long_2 > ){ long2 -= |? by Using the starting point as the reference point, calculate the latitude and longitude of the point with a distance of long_2 from the starting point to the direction of a. Add the point to the waypoint queue; long_Plan_i += long_2; } …… if(long_i > ){ long_i -= ; by Using the starting point as the reference point, calculate the long_i coordinate of ai. Then, using the starting point as the reference point, calculate the long_2 coordinates of ai. Add the point to the waypoint queue; long_Plan_i += long_i; } ③ Connecting the measurement points sequentially forms the final inner spiral contraction distribution survey line, thus completing the multi-vessel measurement task planning.

2. The measurement task planning method based on multi-vessel coordination of an unmanned platform according to claim 1, characterized in that: The measurement task principles in step 1 include: The principles of consistent operation time, applicability of measuring equipment, and non-interference of survey lines are followed.

3. The measurement task planning method based on multi-vessel coordination of an unmanned platform according to claim 1, characterized in that: The specific method for step 2 is as follows: By using nautical charts to discretize the lines where irregular boundary surfaces intersect with the boundary of the survey area, and by blurring the boundary with n times the turning diameter of the equipment with the largest measurement width, the convex points on the contour intersection line are extracted as base points. By connecting the base points, the irregular boundary that the unmanned platform cannot reach is processed into a regular boundary line that is reachable and measurable.

4. The measurement task planning method based on multi-vessel coordination of an unmanned platform according to claim 1, characterized in that: The following steps are included after step 3: Step 4: Based on the multi-vessel measurement mission planning results in Step 3 and the principles in Step 1, evaluate the mission completion rate.

5. The measurement task planning method based on multi-vessel coordination of an unmanned platform according to claim 4, characterized in that: The specific steps of step 4 include: (1) When using the inflection point of the internal spiral contraction type distributed survey line, there will be places where repeated measurements will occur, especially in the inflection points of polygonal irregular survey areas. It is necessary to calculate the measurement completion time of the survey area divided proportionally according to the theoretical survey area area to determine whether it can be completed within the specified time: = long_Plan_i / like If all values ​​are less than the required completion time t, it means the current task can be completed; otherwise, the measurement plan or measurement area needs to be adjusted. (2) At the same time, the consistency of the completion time of each unmanned platform is verified. The verification process is as follows: The root mean square (RMS) of the difference between the actual measurement time and the theoretical completion time for each unmanned platform was processed. right Theoretical completion time is ; in, ,and ; if Less than If so, the actual measurement is considered to satisfy the consistency principle; At the same time, calculate the average. and It can be used as an indicator to judge the quality of a measurement plan; the smaller the value, the better the measurement plan.

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