1891 results about "Angular velocity" patented technology

The invention discloses a heterogeneous double-mechanical-arm tail end pose mapping method, system and device and a storage medium, and the method comprises the following steps: S1, obtaining the angular velocity, position and tail end pose information of each joint of a main mechanical arm, and calculating the spatial position and pose of the tail end of the main mechanical arm; s2, motion trail data in the teaching process of the main mechanical arm is collected, a long-short-term memory network model is established, the pose of the future time step length is predicted, and the motion trail of the auxiliary mechanical arm is planned; s3, data information is transmitted, and the problem of communication delay is solved; s4, the pose information of the tail end of the main mechanical arm is solved, the joint angle is adjusted, and the error is adjusted in combination with proportional-integral-differential control; s5, the position and speed signals are filtered, a mechanical arm dynamic model is established, an adaptive control law is designed, and a trajectory smoothing algorithm is adopted; and S6, establishing a virtual obstacle map, and limiting a safe working space. According to the method, comprehensive and accurate mapping and prediction of the tail end poses of the heterogeneous double mechanical arms are achieved.

The invention discloses a hemispherical resonator gyroscope inertial navigation system error online calibration method, device and system and a readable storage medium. The method comprises the following steps: establishing a dynamic observation equation of a gain error and a misalignment angle error; adaptively extracting error features of different time scales, and constructing a high-dimensional feature vector; decoupling the gain error and the misalignment angle error to obtain an error estimation value; constructing a dynamic compensation matrix, and correcting and measuring the angular velocity in real time; an online self-correction mechanism of the error compensation model is designed, and a compensation matrix is dynamically adjusted to adapt to dynamic changes of errors; an adaptive time sequence regression model is introduced to predict an error long-term drift trend, and a nonlinear compensation method is combined to actively counteract an error accumulation effect; dynamically adjusting the optimization rate of the compensation matrix through stability analysis; and dynamically optimizing error model parameters based on convergence evaluation of error residual errors. According to the invention, the limitation of a traditional method in a dynamic environment, especially the coupling problem of a gain error and a misalignment angle error, is solved.

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

The invention relates to the technical field of flight control, in particular to a fixed-wing unmanned aerial vehicle attitude correction and precise flight control method fused with visual navigation, which comprises the following steps: extracting ORB feature points and constructing a dynamic feature point cloud; simultaneously acquiring angular velocity and acceleration data of the inertial measurement unit; performing tight coupling fusion processing on the dynamic feature point cloud and the inertial measurement data to generate real-time pose data; inputting the real-time pose data into an attitude correction parameter calculation module, and generating an attitude correction parameter through a dynamic weight distribution algorithm in combination with a preset flight path planning model and GPS positioning data; and a control surface deflection instruction and an accelerator control instruction are generated through the multi-constraint optimization model, and unmanned aerial vehicle flight attitude closed-loop correction is completed. According to the method, aerodynamic parameters such as the air speed, the wind field lateral disturbance and the attack angle are introduced to serve as coupling input, the control surface deflection amount and limiting conditions are dynamically adjusted, and self-adaptive modeling and control over the nonlinear flight characteristics are achieved.

The invention relates to the technical field of camera anti-shake, and discloses a motion camera anti-shake method and system based on inertial prediction, and the method comprises the steps: collecting the three-axis acceleration original data of an IMU sensor in a motion camera, and calculating a first motion intensity value; when the first motion intensity value is smaller than an acceleration change rate threshold value, starting a first anti-shake mode, and extracting angular velocity data of the gyroscope; performing cubic spline interpolation curve fitting and time domain extrapolation prediction on the angular velocity data of the gyroscope to obtain a three-axis angular displacement predicted value and generate a first lens compensation driving signal in a first anti-shake mode; continuously monitoring the motion camera, switching to a second anti-shake mode when a second motion intensity value exceeds the acceleration change rate threshold value, acquiring three-axis acceleration sudden change data, and generating a second lens compensation driving signal in the second anti-shake mode, compared with a traditional single-mode anti-shake method, the method improves the adaptability and compensation precision in a complex motion environment.

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention belongs to the technical field of motor control, and relates to a permanent magnet synchronous motor sensorless control method, system and hardware circuit, angular velocity estimation is designed based on a q-axis current model under a two-phase rotating coordinate system, angular velocity estimation compensation is designed based on a d-axis current model, and a rotating speed correction coefficient is introduced. And dynamic compensation of the estimated angular velocity value is realized. An accurate angular velocity estimated value and an accurate rotor angle estimated value are obtained by constructing a Romberg observer with an angular velocity estimated value and a rotor angle estimated value as outputs based on a dq rotating coordinate system. Taking an angular velocity error obtained by a motor angular velocity given value and a motor angular velocity estimated value as input of an outer ring PI controller, so as to ensure that the angular velocity estimated value tracks the motor angular velocity given value and output a q-axis current reference value; taking the difference value between the q-axis current reference value and the q-axis current sampling value and the difference value between the d-axis current reference value and the d-axis current sampling value as the input of an inner ring PI controller so as to ensure the bandwidth and the influence capability on the load, and outputting a d-axis voltage reference value and a q-axis voltage reference value; and converting the d-axis voltage reference value and the q-axis voltage reference value into voltage reference values under a two-phase static coordinate system based on the rotor angle estimation value so as to divide SVPWM drive circuit sectors, select voltage vectors, calculate action time, control on and off time of a permanent magnet synchronous motor switching device, and control on-off time of the permanent magnet synchronous motor switching device. And the alternating current speed regulation performance of the permanent magnet synchronous motor without the position sensor under the Romberg observer method is ensured.

The invention provides a stabilization control method and system for a fuel filling ship at a zero navigational speed. The method provided by the invention comprises the following steps: acquiring rolling data and wind wave data of a refueling ship under a target sea condition in a fuel refueling process in real time; the rolling data and the wind wave data are processed based on a radial basis function neural network, and the precession angular velocity of the stabilization gyro device under the target sea condition is obtained through calculation; the stabilization gyro device is controlled to rotate at the precession angular speed, the stabilization gyro device generates a gyroscopic effect and generates rolling moment, the rolling moment is converted into stabilizing moment for resisting rolling through precession motion, and the rolling angle of the filling ship is reduced; and the stabilizing moment is opposite to the vibration direction of the rolling. According to the method and system, rolling control of the filling ship at the low speed or the zero navigational speed is achieved, the stabilization torque can be adjusted in real time according to sea wave changes, and the stability and safety of the filling ship in the fuel filling operation process are improved.

The invention relates to the field of high-altitude operation equipment and automatic control, and discloses a control system and method for a self-walking insulating lifting platform, and the system comprises a posture sensing module which is used for collecting the inclination angle and angular velocity information of the platform in real time; the dynamic modeling module is used for establishing a multi-degree-of-freedom dynamic model of the platform; the optimal control module is used for calculating optimal control input through objective function optimization; and the robust control module is used for realizing anti-interference leveling of the platform under an external disturbance condition based on a sliding mode control algorithm and in combination with adaptive gain adjustment. The method comprises the steps of obtaining real-time attitude information of a platform, establishing a multi-degree-of-freedom dynamic model, defining a weighted objective function and solving optimal control input, calculating control input based on a sliding mode control algorithm, and adjusting the positions of platform supporting legs to achieve a stable leveling state. According to the invention, the leveling precision and the anti-interference capability of the platform are improved, and the method is suitable for safe and stable operation under various complex terrain conditions.

A method for simultaneous localization and mapping underwater. A robot is equipped with an IMU inertial unit and a sonar unit. When the robot submerges underwater, a buoy connected to the robot floats on the water surface, and the buoy moves in coordination with the movement of the robot. The position and observed velocity of the buoy are obtained by a shore-based lidar. During motion estimation in a SLAM algorithm, when an angular velocity is below a preset angular velocity threshold, the observed velocity of the buoy is decomposed into x-axis velocity and y-axis velocity, and updated as the two-dimensional operating velocity of the robot. The polar coordinates of an obstacle in a map under the coordinate system of the robot are associated with the polar coordinates of sonar data of a current frame by using the Mahalanobis distance. The polar coordinates of a new obstacle are converted to the world coordinate system and added to the map. The present invention has the advantages of not relying on underwater visibility, not requiring pre-installed devices, and possessing good generalization and stability.

The invention relates to the technical field of shot action recognition, and discloses a shot throwing action recognition method based on a single attitude sensor. The method comprises the following steps: acquiring a single attitude sensor original data stream in a shot throwing process, and extracting a three-axis acceleration sequence and a three-axis angular velocity sequence from the single attitude sensor original data stream; performing motion event segmentation processing on the two sequences, and generating a key action time period mark set comprising a preparation stage, a sliding step stage, a power generation stage and a release stage; based on the mark set, calling an attitude feature solution algorithm to perform spatial trajectory reconstruction on the original data stream to obtain a key attitude frame set containing a joint angle change curve and a centroid displacement trajectory; and inputting the key attitude frame set into an action recognition model for attitude mode matching, and outputting a shot throwing action classification result which comprises an action deviation parameter generated based on a standard action template library and a key frame correction identifier. According to the method, key attitude information is reconstructed, and support is provided for shot throwing action analysis and improvement.

The invention discloses a fluid loading and unloading arm dynamic flange automatic docking method based on image visual servo, which comprises the following steps: initializing the tail end position of a loading and unloading arm, and controlling the loading and unloading arm to move until complete image information of a flange to be docked can be acquired; the method comprises the following steps: acquiring an image of a flange to be butted, and extracting initial candidate circles with circle features in the image by adopting a Hough circle detection algorithm; through an RANSAC (Random Sample Consensus) algorithm, performing refined fitting to obtain a refined candidate circle; extracting the center coordinates of the positioning holes from the refined candidate circle; according to the circle center coordinate of the positioning hole and the butt joint state coordinate position, calculating the current time deviation; taking the minimum deviation as a target, solving an angular motion angular velocity instruction of each joint of the loading and unloading arm, driving each joint of the loading and unloading arm to adjust the pose until the deviation converges, and completing the butt joint of the flange at the tail end of the loading and unloading arm and the to-be-butt-jointed flange. The method is suitable for millimeter-level accurate butt joint and control of loading and unloading arm flanges in the dynamic marine environment, and the operation efficiency and safety in the complex environment are remarkably improved.

To provide a light source device and an optical device which can improve stability of light generated from a light source.SOLUTION: A light source device 100 includes: a target holding part 110 having a holding region for holding a target material TM for generating light L0 by giving excitation light LR thereto; a rotation shaft 120 for supporting the target holding part 110; and an axial rotation driving part 130 connected to the rotation shaft 120, and rotating the target holding part 110 around a central axis C of the rotation shaft 120 through the rotation shaft, wherein the target holding part 110 is rotated at a predetermined target rotation angular velocity, and the target holding part 110 has a mass such that a dangerous angular velocity in rotation becomes 85% or less of the target rotation angular velocity.SELECTED DRAWING: Figure 1

The invention relates to a four-way shuttle vehicle based on ontology state perception and a self-calibration positioning method of the four-way shuttle vehicle. The method comprises the following steps: establishing a body state sensing system, collecting three-axis acceleration, three-axis angular velocity, wheel set displacement and attitude angle data of a shuttle vehicle body, and synchronously forming a standardized sensing data set; performing fusion calculation on the standardized sensing data set to obtain real-time position and attitude parameters; calculating an initial value of a positioning error based on matching of the real-time position and attitude parameters with pre-stored high-precision track map data; according to the positioning error initial value, adaptive correction calculation is executed, a real-time positioning error correction amount is determined, and positioning information is corrected; parameters of a shuttle vehicle track control system are updated according to the corrected positioning information, and track navigation control is carried out; accumulated positioning error correction data are periodically analyzed, self-calibration model parameters are optimized, and positioning accuracy and stability are improved. According to the invention, the positioning reliability and path tracking capability of the four-way shuttle vehicle in a complex environment can be improved.

The invention relates to a course axis drift suppression method and device, a holder and a medium, and the method comprises the steps: receiving original data of a current course, the original data comprising an absolute angle outputted by a course encoder, and an acceleration and an angular velocity outputted by an IMU module; the original data are converted into a unified coordinate system through a rotation matrix, and mechanical installation deviation is compensated; performing data fusion on the compensated original data through a preset fusion algorithm; and outputting the fused absolute angle to a servo mechanism of the holder, and by adopting the method, through real-time sensor data alignment, a dynamic compensation algorithm and a fusion algorithm, a course drift suppression mechanism which is resistant to dynamic interference and low in cost is constructed, and static drift lt can be realized; the dynamic tracking error is 1t, 0.01 degree / h and 1t; and the technical index is 0.05 degree.

The invention discloses a wind power generation tower pose monitoring method based on a GNSS / MEMS IMU / magnetometer combination, and the method comprises the steps: carrying out the estimation of a state vector containing the position, speed, attitude error, sensor zero offset and scale factor error through error state Kalman filtering based on the GNSS / MEMS IMU combination, and carrying out the correction and fusion of GNSS and IMU data through a lever arm effect; a complementary filtering algorithm is adopted, an error vector is constructed by combining measured values of an accelerometer and a magnetometer, a gyro angular velocity is corrected through a PI controller, an attitude quaternion is recurred, a course angle is calculated, and the course angle is used as an auxiliary observed quantity to update filtering. According to the invention, by adding course information provided by the MEMS IMU and the magnetometer, the position and the attitude are comprehensively estimated, and high-precision six-degree-of-freedom pose monitoring is realized.

The invention relates to the technical field of numerical control programming, in particular to a five-axis machining path planning method and system based on data driving, and the method comprises the following steps: obtaining real-time coordinates of each axis of a machine tool, calculating linear velocity and angular velocity components to construct a Jacobian matrix, executing singular value decomposition, and calculating a conditional number ratio by using maximum and minimum singular values; and inputting a nonlinear mapping function to calculate a dynamic penalty factor, generating a rotating shaft weighted item in combination with a rotating shaft identifier, constructing a weighted damping least square objective function, calculating a five-axis motion increment, and accumulating the five-axis motion increment with a real-time coordinate to generate a target absolute position coordinate. According to the method, the pose singularity degree is quantified by monitoring the machine tool pose condition number ratio and converted into the dynamic penalty factor to apply the self-adaptive constraint to the rotating shaft, the severe sudden change of the rotating shaft in the singularity area is inhibited, the tool nose track following error is minimized, and meanwhile smooth distribution of the motion increment is achieved; and the dynamic stability and the surface quality of five-axis linkage machining are improved.

The invention relates to the technical field of underwater detection and navigation, in particular to a sonar real-time high-precision synchronous positioning and map building optimization method based on a dynamic sliding window and inertial navigation, and the method comprises the steps: introducing a dynamic sliding window adjustment module and an inertial navigation module, the dynamic sliding window adjusting mechanism dynamically adjusts the length of a sliding window according to the operation state (such as the movement speed and the steering angular speed) of a sonar system, the real-time performance is enhanced by reducing the window in a high-dynamic environment, and the map precision is improved by enlarging the window in a low-dynamic environment. The sliding window adjustment rule is driven by output parameters of the inertial navigation module, including acceleration, angular velocity and the like, the size of the sliding window is adjusted in real time according to the motion state (such as speed and steering angular velocity) of the sonar system, and the environmental perception ability of the sonar system in a complex scene is improved.

A fastener tool that drives a fastener into a workpiece includes a housing, a nose assembly, a driver, a motor, a flywheel, one or more sensors, and a controller. The controller is configured to adjust a speed of the driver based on 1) a difference between a first angular velocity of the flywheel measured by the one or more sensors at or before the start of the drive commencement and a second angular velocity measured by one or more sensors after the start of the drive commencement; or 2) a time difference between a first time after the start of the drive commencement when the driver and the flywheel are in engagement with each other and when the driver and the flywheel are moving at the same speed and a second time when the characteristic of the motor meets a predetermined threshold.

The invention discloses a fusion filtering attitude estimation method based on EKF and Mahony, and the method comprises the steps: firstly obtaining the original data information of an IMU sensor at the current moment, carrying out the normalization of the attitude information of an accelerometer and a magnetometer, carrying out the error calculation, and compensating the error to the angular velocity of a gyroscope through a PI controller, the method comprises the following steps: performing Mahony filtering correction on an angular velocity and a corrected attitude quaternion to obtain an angular velocity subjected to Mahony filtering correction and a corrected attitude quaternion, constructing a state equation of an EKF by using the corrected attitude quaternion and a gyroscope zero offset value, and constructing an observation equation by using data of an accelerometer and a magnetometer so as to obtain an optimally estimated attitude quaternion and a gyroscope zero offset value; and finally, compensating the optimally estimated zero offset value of the gyroscope to the angular velocity correction process in the Mahony filtering process.

The invention discloses a steering engine accurate control method and system based on an optimization control algorithm, and the system comprises a data collection module which collects key working parameters of a steering engine in real time through a plurality of sensors, and carries out the data processing, thereby forming a state vector; the self-adaptive filtering module is used for carrying out self-adaptive filtering fusion processing on the data acquired by the sensor and dynamically estimating the attitude angle and the corresponding angular velocity of the aircraft; the sliding mode control module constructs a sliding mode surface and a control rate of a steering engine system according to the dynamic error of the system, calculates control input of each axis of the aircraft according to the attitude angle real-time state error, and generates a sliding mode control signal; the driving execution module is used for converting the control signal into a voltage or PWM signal and inputting the voltage or PWM signal into a steering engine, so as to change thrust and realize adjustment and control of a posture or a position; and the real-time feedback module monitors the current state of the steering engine in real time to realize dynamic correction and real-time optimization. The adaptive filtering and sliding mode control method provided by the invention is higher in control precision, quicker in system response and higher in adaptability to complex environments, and can effectively improve the application performance and stability of a steering engine execution system in the fields of industrial automation, aerospace, intelligent manufacturing and the like.

A work vehicle includes a boom coupled to a machine body, an arm coupled to the boom, a bucket coupled to the arm and including an edge portion to function as a leading edge when the bucket excavates earth, a rotation sensor to measure rotation of a to-be-measured object which is at least one of the boom, the arm, or the bucket, and a controller configured or programmed to control rotation of the to-be-measured object. The controller is configured or programmed to control rotation of the to-be-measured object based on an output value obtained by applying a correction function directly or indirectly to a difference between a target angular velocity for rotation of the to-be-measured object and an actual angular velocity of the to-be-measured object derived based on a measurement result from the rotation sensor, the correction function being based on the actual angular velocity.

The invention relates to the technical field of angle measurement, in particular to a well deviation angle measurement method and system based on inertial navigation. The method comprises the following steps: carrying out equipment underground operation real-time monitoring and inertial state Kalman filtering processing on the operation process of the drilling equipment to obtain inertial state triaxial acceleration filtering data and inertial state triaxial angular velocity filtering data; performing three-axis attitude angle integral operation and three-axis attitude space conversion on the inertial state three-axis acceleration filtering data and the inertial state three-axis angular velocity filtering data to generate an inertial state three-axis attitude angle simulation space; the method comprises the following steps: acquiring an initial reference point of underground inertial navigation, carrying out three-axis attitude geometric mining analysis and well deviation angle inverse solution calculation, and carrying out error compensation derivation calculation and well deviation calibration treatment on corresponding sensor output in an underground inertial navigation system to obtain an inertial navigation well deviation calibration angle. According to the invention, the real-time and accurate measurement process of the well inclination angle can be realized.

The invention discloses a stability control system and method considering time varying and time lag of a steering mechanism, and the system comprises a rotation angle generation module, a reference model module, an error fusion module, a stability control module, and an EKF side slip angle observation module. Wherein the steering angle generation module adopts a model predictive control (MPC) algorithm to track an expected trajectory and generate a front wheel steering angle, and the stability control module adopts a Smith pre-estimation compensation method to design active front wheel steering (Smith-AFS) and direct yawing moment control (DYC) so as to realize the stability control of the intelligent vehicle under the condition that an execution mechanism has time-varying and time-lag. According to the stability control system and method considering the time-varying time-lag of the steering mechanism, the tracking precision of the side slip angle and the yaw velocity is greatly improved, and the time-lag interference problem of a stability controller can be solved.

The invention provides an attitude monitoring method and system in navigation of an aircraft, and the method comprises the steps: determining a process noise covariance matrix through a high-frequency energy component of an angular velocity signal measured by a current gyroscope in each filtering period; predicting a prior state vector and a prior covariance matrix at the current moment according to the state vector at the previous moment, the angular velocity measured by the current gyroscope and the process noise covariance matrix; generating an asymmetric Sigma point set and determining a measurement noise covariance matrix; the asymmetric Sigma point set is substituted into a measurement model, and a predicted measurement value and a predicted measurement covariance are obtained through unscented transformation; calculating Kalman gain based on the predicted measurement covariance and the measurement noise covariance matrix, and performing weighted gating test on innovation formed by a real measurement value and a predicted measurement value; and updating a state vector and a covariance matrix on the basis of the adjusted Kalman gain and information so as to obtain attitude information of the aircraft at the current moment.

The invention discloses an anti-ocean-current trajectory tracking control method and system for a jet-arm submarine cable laying robot. The method comprises the steps that an anti-ocean-current motion model of the jet-arm submarine cable laying robot is constructed; acquiring a position error and a course tracking error according to a given reference trajectory based on the ocean current resistance motion model, and constructing a preset time controller; according to the preset time, the controller obtains a virtual controller of the jet arm seabed cable laying robot so as to define a longitudinal speed error and an angular speed error; constructing a parameter adaptive law according to the longitudinal velocity error and the angular velocity error; and constructing a disturbance observer based on the virtual controller and the parameter adaptive law to obtain an actual controller for ocean current trajectory tracking of the jet arm submarine cable laying robot. Aiming at the problem that an existing submarine cable laying robot cannot realize accurate trajectory tracking in a complex submarine environment, a more perfect ocean current resistance motion model is established, and a disturbance observer is introduced to estimate disturbance in real time so as to realize accurate control; a preset time theory is adopted, so that the system can be converged to a preset time, and the robustness is better; the disturbance observer is used to more accurately compensate the interference of ocean current of the seabed, and the anti-interference capability of the submarine cable laying robot is improved.

The invention discloses a photoelectric pod image stabilization and flyback integrated measuring device and method, and relates to the technical field of aircraft photoelectric pods. Comprising the following steps: acquiring a rotation angle of a photoelectric pod in a working state within a time interval, and calculating a rotation angular velocity of the photoelectric pod within the time interval; and an active stability control model is established, and when the rotation angular speed of the photoelectric pod within the time interval is smaller than a set value, the position of the optical axis of the binocular camera is adjusted through an inertia original element of the photoelectric pod so as to capture a target object. According to the method, the active stability control model is established, multiple time intervals are divided, synchronous frequency rotation is carried out on the binocular camera in the opposite direction while the aircraft or the photoelectric pod rotates, it is ensured that the target object can be captured by the binocular camera in each time interval, and the purpose of rapidly capturing the target object is achieved; the tracking precision of the aircraft is improved, and the aircraft can effectively track the target.

The invention discloses a low-complexity spacecraft anti-unwinding preset performance attitude tracking control method. The method comprises the following steps: establishing an attitude tracking model based on a special orthogonal matrix group; designing a performance boundary capable of suppressing overshoot by using a specified time performance function, and converting a problem of ensuring that an attitude tracking error is converged into the performance boundary into a problem of ensuring that an attitude tracking error function is converged into a preset performance boundary; a conversion error of an attitude tracking error function is designed, an original attitude error function constraint problem is converted into a conversion error bounded problem, and virtual input is designed according to a backstepping method to ensure the bounded property of the conversion error; a performance boundary is designed and set for an error between an angular velocity tracking error and virtual input, a constraint problem of the error is converted into a bounded problem of a conversion error, a controller is designed to ensure that the conversion error is bounded, the bounded performance of the angular velocity tracking error is ensured, and a control target is completed. The device has the advantages of being simple in structure and saving energy consumption.

The invention discloses a ship anti-spoofing attack control method based on a self-feedback expansion state observer. The ship anti-spoofing attack control method comprises the steps that a guidance virtual ship and a dynamic virtual ship are set to construct an L2-DVS guidance strategy; constructing a spoofing attack additional signal model of the unmanned ship, and obtaining a ship position signal under the spoofing attack according to the kinematic model of the target unmanned ship; acquiring a longitudinal velocity virtual control law of the target unmanned ship and a spoofing attack compensation law of a yaw angle according to the constructed error model so as to obtain a yaw velocity virtual control law / adaptive law; and constructing a state memory type event triggering mechanism, obtaining a controller / adaptive law of a rudder angle / rotating speed of the target unmanned ship in combination with a self-feedback compensation reduced order expansion state observer, and realizing anti-spoofing attack control of the target unmanned ship according to the yaw velocity virtual control law / adaptive law and the controller / adaptive law of the rudder angle / rotating speed. The problems that the research of the application in the current network attack environment is not complete enough, the unmanned ship is disturbed all the time in the marine environment, the actuator continuously responds to the disturbance, and the excessive wear of the steering engine is greatly increased are solved.

A motion state observation method for autonomous navigation of a ship. The method uses a determination method for system matrixes Ad, Bd, Ed and Hd, and a determination method for a related measurement covariance matrix R and noise covariance matrix Q, and uses a discrete Kalman filtering algorithm to perform motion state observation and prediction for autonomous navigation of a smart ship. The method fully uses ship position and heading measurement information of a smart ship during autonomous navigation, uses a ship motion model and the discrete Kalman filtering algorithm, and selects an effective state observation variable, thus calculating reasonable and effective observer parameters. The state observation method can effectively calculate information such as the actual position, heading, speed and angular velocity of a smart ship at each time instant during autonomous navigation, and predict motion information at a next time instant, thus helping to reduce the difficulty of smart ship motion controller design, ensuring effective implementation of navigation control strategies, reducing ineffective thrust output and rotation of propulsion systems, and improving the autonomous navigation capability of smart ships.