273 results about "Dynamic positioning" patented technology

The invention relates to the field of transportation visualization, in particular to a cold chain cargo transportation management visualization method and system. The method comprises the following steps of collecting cold chain cargo state parameters, performing cargo quality trend evaluation, and generating state data streams of a plurality of cargoes; performing dynamic positioning and tracking on the cold-chain transport vehicle, performing space-time mapping processing according to the state data flow, and constructing a real-time tracking trajectory flow; performing future aging deviation prediction on the real-time tracking trajectory flow to generate an aging deviation prediction result; carrying out transportation risk comprehensive assessment according to the aging deviation prediction result, and generating a transportation risk assessment report; and carrying out path planning calculation and client notification pushing according to the transportation risk assessment report so as to execute intelligent transportation management. According to the invention, the transportation energy consumption and time cost are reduced, the resource allocation efficiency is improved, and the cargo real-time tracking visualization effect is improved.

A joint simulation and operation operability evaluation method based on wind power operation and maintenance ship motion dynamic response and active compensation gangway ladder motion control comprises the steps that an operation and maintenance ship frequency domain seakeeping model is built, and a hydrodynamic coefficient library is calculated; wave exciting force is reconstructed based on a Cummins time domain motion equation, and ship motion response prediction is realized by adopting implicit generalized alpha time domain composite integral; the dynamic positioning system extracts low-frequency motion through a Kalman filter and optimizes thruster thrust distribution to stabilize the position of the ship. A gangway ladder dynamic model is established based on a Lagrange equation, real-time control over displacement, speed and acceleration of the top end of the gangway ladder is achieved through a feedforward-feedback composite control strategy, and nonlinear output of a hydraulic actuator is optimized. And realizing joint simulation of the coupling system through time domain synchronization and self-adaptive PID (Proportion Integration Differentiation) control. And checking gangway ladder movement based on a preset threshold value and a space boundary condition, and evaluating the operability of the climbing operation. According to the method, the limitation of traditional single-disciplinary analysis is broken through, and the forecasting precision of wind power operation and maintenance operation operability is effectively improved.

The invention relates to a track planning method and system for a bridge crane, and the method comprises the steps: collecting motion signals of a main beam and a trolley through an electromagnetic field intensity detection sensor array, carrying out the denoising of the motion signals, extracting features, decomposing the features into component signal groups, building the incidence relation between the component signal groups and the motion state of a joint, and achieving the high-precision dynamic positioning. A time sequence model is constructed based on position data to analyze displacement and speed characteristics, a multi-dimensional constraint condition set including speed limitation and position boundaries is generated, a final trajectory scheme is output through iterative adjustment of an optimization calculation framework, a dynamic feedback mechanism is adopted, electromagnetic field intensity signals and planning data are compared in real time, and the optimal position is obtained. And when the deviation threshold is exceeded, readjusting the parameters, and generating a coordinated motion instruction to drive the crane to operate. Accurate positioning is achieved based on electromagnetic field intensity detection, the problems of accumulative errors and environmental interference of a traditional method are effectively solved, and the stability, accuracy and self-adaptive capacity of crane movement are remarkably improved.

According to an embodiment, there is provided a control method for autonomously berthing a ship including obtaining ship state information and berth information, setting a DP point; an approaching operation of controlling the ship to approach the DP point; and a dynamic positioning operation of adjusting a location and posture of the ship based on an error rate between the DP point and a current location of the ship.

The invention relates to the technical field of ship motion control, and particularly discloses a ship dynamic positioning control method and system for a full-water-depth sea area, and the method comprises the steps: S1, measuring the water depth in real time, and calculating the water depth-to-draft ratio through combining with the ship draft; s2, according to the water depth-to-draft ratio, a water depth self-adaptive ship body dynamic model is updated; s3, calculating real-time optimal control force by utilizing an optimal quadratic index according to the updated water depth self-adaptive ship body dynamic model; and S4, performing dynamic positioning control according to the real-time optimal control force. The dynamic positioning system can be compatible with control requirements of deep water and shallow water operation areas, and the problems of control drift, instability divergence and the like caused by inertia increase, damping increase and thrust loss of a ship body in a shallow water area are solved.

The invention provides an underwater robot dynamic positioning method for coping with complex disturbance, and the method comprises the steps: collecting the attitude angle, angular velocity, linear velocity and linear acceleration information of an underwater robot, and generating fused high-frequency and high-precision pose information; designing an extended state disturbance observer, and estimating a disturbance value in real time through a feedback function and an auxiliary variable equation; adding the disturbance estimation value and the output force of the dynamic model, constructing a constraint condition of model prediction control, and solving the optimal control input of N prediction time domains in the future through rolling time domain optimization; and based on the optimal control input, constructing a quadratic programming problem of thrust distribution in combination with the space pose distribution matrix of the thrusters, solving the minimum energy solution of the thrusters, and outputting the minimum energy solution to a thruster execution mechanism. According to the technical scheme of the invention, the robust control of the underwater robot in a strong disturbance environment can be realized. The method mainly solves the problem of fixed point and attitude determination when the underwater unmanned robot faces underwater turbulence or other complex disturbances.

The invention relates to the technical field, in particular to an unmanned inspection method and system for a switch cabinet, and the method comprises the following steps: building an incidence relation between signal nodes through a graph neural network, improving the time sequence consistency of multi-source signals, enabling instrument reading and temperature and humidity signals to form a hierarchical structure under a unified time frame, and improving the accuracy of inspection. The logic association of state layering is enhanced, continuous sampling sequence features are extracted through a long-short-term memory network, the response sensitivity and time prediction capability to abnormal signal abrupt change are improved, amplitude matching of temperature difference and current signals is achieved under the same time index, early abnormal nodes are accurately recognized, and a dynamic positioning sequence is established. Through joint tradeoff of distance and energy consumption, path lengthens and energy peak values are reduced, task throughput and equipment availability are improved, timing sequence capture and trend judgment capabilities are enhanced in an anomaly recognition layer, and accuracy and continuity of inspection decision and reliability of safety assessment are integrally improved.

The invention provides an elastic non-difference and non-combination-based PPP-RTK high-precision positioning method and device, and belongs to the field of satellite navigation high-precision positioning, and the method comprises the steps: obtaining reference station data, and judging the validity of the reference station data; if the reference station data is valid, outputting satellite navigation positioning information based on a real-time dynamic positioning technology RTK; and if the reference station data is invalid, acquiring enhanced data of a non-difference and non-combination positioning technology PPP-RTK, and outputting satellite navigation positioning information based on a precision single point positioning technology PPP, a precision single point positioning ambiguity estimation technology PPP-AR or a PPP-RTK technology according to the PPP-RTK enhanced data, a preset positioning precision requirement and a resource occupation condition of the terminal equipment. According to the invention, by judging the validity of the reference station data and dynamically adjusting the positioning mode, the influence of the change of the environment where the terminal equipment is located on the reference station data is avoided, the precision of the positioning result can be always kept at a relatively high level, and a better high-precision positioning service result is obtained.

The invention relates to the technical field of self-adaptive control, in particular to a self-adaptive dynamic positioning control method for a semi-submersible platform, which establishes a control model for the motion characteristics of the semi-submersible platform, pays attention to the nearest error data through a sliding window, avoids the influence of long-term accumulated errors on a controller, and improves the positioning accuracy of the semi-submersible platform. The response speed and the stability of the control system are improved; the PSO algorithm combined with the real-time wave parameters can effectively restrain the search space, blind optimization is avoided, the control precision and adaptability of the control strategy under different sea conditions are improved, and the response speed and safety are greatly improved especially for extreme sea conditions.

The invention relates to the technical field of ship underwater positioning, in particular to a dynamic space positioning method and system for a sensor chain body of a ship drag chain, and the method comprises the steps: dispersing the drag chain into a plurality of hinged rigid sections in a two-dimensional inertial reference system, connecting the sensor chain body to the tail end, and taking the motion of a ship as a traction point boundary; according to the given traction speed, the initial pitch angle, depth and tension distribution are obtained through static balance; calculating local speeds in the sections according to translation and rotation states of upstream nodes of all the sections, obtaining distributed hydrodynamic loads in combination with fluid parameters, establishing moment balance equations at all the upstream nodes, and forming a second-order ordinary differential equation set with a pitch angle as an unknown quantity; and numerical solution is carried out under a unified time step length, and the mass center positions of each node and a sensor chain body are obtained according to geometric recursion, so that dynamic positioning in an inertial reference system is realized. According to the invention, the precision and reliability of underwater target motion analysis and target tracking can be improved.

The invention discloses an unmanned aerial vehicle-mechanical dog cooperative multi-frequency sound wave mine pile cavity monitoring system and method. The system is characterized in that a plurality of receiving sensors are uniformly arranged on the surface of a mine pile in a stoping space; the unmanned aerial vehicle platform and the mechanical dog are arranged in the stoping space; the multi-sensor integration unit comprises a sound wave emission module, an RTK real-time dynamic positioning module, a laser radar module and a visual SLAM module, and the calculation analysis terminal is connected with the mechanical dog, the multi-sensor integration unit and the multiple receiving sensors. The method comprises the following steps: after finishing each ore drawing operation, arranging a plurality of receiving sensors on the surface of an ore heap at the bottom of a stoping space in a rhombic grid manner by adopting a mechanical dog; and the unmanned aerial vehicle platform is controlled to sequentially traverse the arrangement point positions of the receiving sensors, sound wave signals are transmitted, the head wave arrival time, the amplitude attenuation rate and the frequency spectrum gravity center offset are obtained through the receiving sensors, and third-level early warning is carried out. According to the system and the method, the cavity condition in the ore heap can be efficiently and accurately monitored.

The invention discloses a Galileo HAS service receiving and positioning performance evaluation method and device, and belongs to the technical field of satellite positioning and navigation. The method comprises the steps that Galileo E6B frequency band signals are captured through USRP equipment, after radio frequency and direct current signals are separated through a bias device, self-adaptive layering processing is carried out through GNSS-SDR software, and the self-adaptive layering processing comprises dynamic sampling and interference suppression of a radio frequency adaptation layer, double-domain cooperative synchronization and self-adaptive decoding of a baseband intelligent processing layer and self-adaptive decoding of a baseband intelligent processing layer. And carrying out multi-dimensional feature mapping and robust verification on the HAS correction number extraction layer, and finally outputting a standardized HAS correction number. And in combination with a real-time precise single-point positioning technology, centimeter-level dynamic positioning is realized, and the positioning performance is evaluated through comparison with reference station data. According to the method, the robustness and precision of signal receiving and processing are improved, and the method is suitable for high-precision positioning requirements in a complex environment.

The invention relates to the technical field of stamping dies, in particular to an intelligent bearing part dynamic positioning stamping control system which comprises a sensor module, a control module and a control module. The sensor module comprises a position sensor used for monitoring the position and the motion state of a bearing part in real time and a pressure sensor used for detecting pressure changes in the stamping process; the position sensor is a laser displacement sensor or a visual sensor; according to the scheme, the sensor module collects data such as the position of a bearing part and stamping pressure in real time, analysis and processing are conducted in combination with an intelligent algorithm of the control module, and the execution module is precisely driven to achieve dynamic positioning and stamping control; and meanwhile, the man-machine interaction module is utilized, so that an operator can conveniently and flexibly set parameters and monitor production. According to the system and method, high-precision and automatic dynamic positioning and stamping of the bearing part are achieved, the production efficiency and the product quality are remarkably improved, the adaptability of the system to diversified production requirements is enhanced, and the equipment failure risk is reduced.

The invention relates to the field of radar external parameter calibration, and discloses a millimeter wave radar external parameter rapid dynamic automatic calibration method, which comprises the following steps that S1, a to-be-tested vehicle runs in a test range of a millimeter wave radar, the millimeter wave radar collects original target data of each target in a surrounding environment, and real-time dynamic positioning equipment synchronously collects vehicle track data; s2, performing target identification and track splicing on the original target data to obtain corrected radar sensing track data; s3, based on the dynamic time error, performing time synchronization on the radar sensing trajectory data and the vehicle trajectory data, and matching the radar sensing trajectory data with the vehicle trajectory data through a timestamp; s4, generating a homography matrix by using the matching point pairs, and optimizing the homography matrix by using a deep reinforcement learning algorithm to reduce calibration errors; and S5, performing external parameter calibration on the millimeter wave radar by using the optimized homography matrix. According to the invention, the error tolerance can be automatically adjusted, and the calibration precision is improved.

The utility model discloses a composite cabin ventilation system meeting dynamic positioning redundancy requirements, which comprises an exhaust shutter, an air inlet shutter and a fan which are positioned in an upper cabin, a structural air duct positioned in a middle cabin and a diesel generator set positioned in a lower cabin, and the air inlet shutter, the fan, the structural air duct and a cavity of the lower cabin are sequentially communicated. The cavity of the lower-layer cabin is communicated to an exhaust shutter through a chimney; and an air brake for controlling the ventilation quantity is arranged between the fan and the structural air duct. According to the utility model, a water cooling mode is utilized to completely replace the heat dissipation air volume of a main part during the design of a conventional cabin ventilation system, and the discharge capacity of a ventilation fan and the size of an air duct are reduced. The internal circulation cooling jet fan does not need to be started, normal operation of the ship can be guaranteed through the frequency conversion fans with the small number and power, and energy conservation and emission reduction are achieved. All the frequency conversion fans and the internal circulation cooling jet fans can work at the same time, the use requirements of tropical areas under extremely hot working conditions are met, and the working condition adaptability of ships is improved.

According to the dynamic positioning method and device for the fishery ship, the electronic equipment and the storage medium provided by the invention, filtering and information fusion are carried out by collecting the current motion state and the surrounding environment parameters of the ship, and the ship pose state estimation information and the environment disturbance estimation information are output; based on the rolling time domain model and the multi-target performance index function, according to the current constraint target, the ship pose state estimation information, the environment disturbance estimation information and preset propeller use energy consumption parameters, an optimal control sequence corresponding to the current control period is output, and according to the optimal control sequence and a propeller current efficiency matrix, the propeller is controlled. And determining current thrust output information of each thruster, and controlling each thruster to output thrust according to the priority of the thruster and the current thrust output information of each thruster. The method can realize automatic fishery ship dynamic positioning, improves the dynamic positioning efficiency and accuracy of the fishery ship, and can be widely applied to the technical field of ship motion control.

The invention discloses a multi-frequency fusion antenna suitable for deformation monitoring of an electric power tower, which comprises a system floor, a data path module, a GNSS module, a GNSS feed network module, a data path feed network module and an antenna shell, and is characterized in that the GNSS module, the GNSS feed network module, the data path module and the data path feed network module are fixed on the system floor; the GNSS module receives the navigation signal so as to carry out real-time dynamic positioning calculation and obtain monitoring data of the electric power iron tower; the GNSS feed network module provides power distribution and phase control for the GNSS module; the data path module binds the monitoring data with a timestamp to form a complete monitoring data set and transmits the complete monitoring data set to a remote server or a monitoring center; the data path feed network module provides power distribution, impedance matching and phase control for the data path module. According to the invention, signal resources of each satellite navigation system can be fully utilized to improve the deformation monitoring precision of the electric iron tower.

The invention discloses an engineering safety management method and system based on big data analysis, and the method comprises the steps: constructing a unified data mapping model for the difference between a data format and an updating frequency, converting heterogeneous data into structured data, and generating an integrated multi-source data set; according to a pre-established anomaly detection model, comparing the real-time feature value with a preset threshold value, and if the feature value exceeds the threshold value, marking the feature value as a potential anomaly value; on the basis of correlation analysis, abnormal values are divided into different risk categories by adopting a clustering algorithm, and a dynamic distribution diagram of risk points is generated; according to the dynamic distribution diagram of the risk points, calculating priorities of the risk points by adopting a real-time early warning algorithm, and generating an early warning information list; and inputting the early warning information list into an engineering safety management system, and displaying the position and severity of the risk point by adopting a visualization technology to complete dynamic positioning.

The utility model discloses a multifunctional deck transport ship which comprises a main ship body and a dynamic positioning DP2 system, the main ship body is provided with a sinking mooring area, and the main ship body comprises a double-layer bottom deck, a middle deck, a main deck and a forecastle A deck. The dynamic positioning DP2 system comprises a bow thruster arranged on the bow portion of the ship and a pod thruster arranged on the stern portion of the ship. The multifunctional deck transport ship has the advantages of being high in maneuverability, high in maneuverability, longer in all-pass deck, wider in cargo transfer and loading and unloading operation range, higher in efficiency and high in safety.

The invention discloses a safe dynamic positioning control method for a load switching unmanned ship based on spoofing attack detection, and the method comprises the steps: constructing a switching rule based on an A2C algorithm according to an unmanned ship load switching model, so as to select an optimal action corresponding to the load mode switching of the unmanned ship; on the basis of an unmanned ship load mode corresponding to the optimal action, according to a constructed first event triggering mechanism, in combination with a constructed state observer and an A2C algorithm mode estimation / detection mechanism, whether a data signal is tampered by a spoofing attack or not is determined, and then the observation state of the unmanned ship is output; acquiring a control signal of the unmanned ship according to the observation state based on the constructed safety controller; and based on the constructed second event triggering mechanism, the control signal is transmitted to the actuator through a preset communication network, so that the safe dynamic positioning control of the load switching unmanned ship based on spoofing attack detection is realized. According to the method, the problem that the existing method cannot effectively realize load switching of the unmanned ship and cannot realize safe dynamic positioning control under the condition of considering spoofing attacks is solved.

The invention relates to the technical field of wind power plant construction, and discloses a wind-solar narrow field fan hoisting construction method which comprises the following steps: arranging a real-time dynamic positioning module and an inertial measurement unit; presetting a virtual stable anchor point, and resolving a deviation vector between the real-time spatial position of the hoisting component and the virtual stable anchor point by the control system; according to the invention, the conversion from passive swing suppression to active disturbance cancellation is realized, the traditional open-loop operation is converted into a closed-loop control process, and under the conditions of high wind speed and narrow space, the control efficiency is improved. Therefore, the collision risk between the component and the photovoltaic facility is avoided, and the installation precision is ensured.

The invention discloses a dynamic positioning floating ship entering control method and system based on image recognition, and aims at solving the problems that manual operation is poor in precision, low in efficiency, insufficient in safety and the like. According to the method, a camera is arranged on a jacket to collect images, image recognition is performed after preprocessing, image features of the jacket and a floating mounting ship are extracted, and the relative position and posture of the ship relative to the jacket are estimated according to the image features. And the system generates a control instruction by using a dynamic positioning control algorithm based on the position attitude information, automatically controls a ship propeller, and realizes accurate entering of the floating mounting ship to the preset position of the jacket. And the system continuously monitors and adjusts a control instruction in real time to form closed-loop control, so that the ship is ensured to safely and accurately complete a floating ship entering task. The positioning precision, the operation efficiency and the safety of floating ship entering are effectively improved, and automatic control is achieved.

The invention provides a shipborne temperature and salt drag data space-time correction method and system based on dynamic positioning, and the method comprises the steps: collecting drag chain attitude data and ship maneuvering data in real time, and obtaining an initial three-dimensional offset estimation value; obtaining corrected drag chain attitude data based on the initial three-dimensional offset estimation value and the marine environment interference information; if the corrected drag chain attitude data shows that the position deviation parameter exceeds a preset deviation threshold value, ship maneuvering data are corrected, and real-time space positioning coordinates of the drag chain are obtained; on the basis of the real-time space positioning coordinates, correcting a ship-borne temperature and salt dragging data acquisition time sequence to obtain matched geographical attribution information; and if the matched geographical affiliation information and the preset initial geographical affiliation data are misplaced, the dynamic deviation parameter is adjusted, and a space-time synchronization correction value is obtained. According to the method, a dynamic positioning technology is utilized, the space-time error of the shipborne thermohaline drag chain data is corrected in real time, the space-time consistency of the data is ensured, and the space-time resolution of the thermohaline data is improved.

The invention relates to the technical field of ship charging systems, in particular to an anti-interference ship charging visual dynamic positioning method and system, and the method comprises the steps: obtaining a reference edge point and a reference ship body point on a ship in a reference image in a training stage, and calculating a standard transverse difference and a standard longitudinal difference; in the application stage, image information of a berthed target ship is obtained, and effective edge points are collected; judging whether a framing condition is met or not; if the framing condition is not met, generating edge incomplete content; selecting a reckoning target edge point and a group of reckoning target ship body points based on the edge incomplete content, and calculating a current transverse difference and / or a current longitudinal difference; judging the posture of the ship body based on the numerical relationship between the current transverse difference and the standard transverse difference and / or the current longitudinal difference and the standard longitudinal difference; the method comprises the following steps: drawing a bowing hull map, and selecting a charging port in the bowing hull map to obtain a charging port coordinate; the method and the device have the effect of realizing accurate visual charging positioning when visual interference exists.

The invention provides a real-time positioning and mapping method based on laser radar and inertial navigation, and relates to the field of robot positioning and mapping, and the method comprises the steps: obtaining data information, and carrying out the data preprocessing; a laser inertial attitude estimation module is adopted to carry out pose estimation; key frame extraction and management are carried out; loopback detection is carried out on the new key frame, and loopback constraints are generated; performing pose map construction, constraint fusion and global pose map optimization; and outputting the optimized trajectory. And executing global map construction, and outputting a global map. According to the method, a loopback detection mechanism and a global pose image optimization method are introduced, so that effective identification of historical frames and global trajectory closed-loop optimization are realized; meanwhile, the method fuses multi-source sensing information of an inertial measurement unit, a wheel type odometer, a real-time dynamic positioning module and the like, so that the robustness, the map consistency and the positioning precision in a complex degradation environment are remarkably improved.

The invention discloses an unmanned ship distributed docking control system and method based on an integral sliding mode strategy, and the system comprises a positioning data obtaining module, an instruction issuing and processing module, an unmanned ship execution module, and an unmanned ship data feedback module. A dynamic communication topology network with environmental adaptability is constructed, anti-interference distributed information distribution is realized through a relay node dynamic distribution mechanism, and the problem of single-point failure of traditional centralized control is solved. Meanwhile, an error integral item is introduced into sliding mode surface design, and the buffeting phenomenon can be effectively reduced through the provided integral sliding mode control strategy. By disassembling the docking task, the expected longitude and latitude information of each member can be calculated respectively, and the expected longitude and latitude information is set as the position information under the follow coordinate system through coordinate conversion, so that the communication resources of the system can be saved to a great extent.

The invention discloses a real-time positioning performance testing system, and belongs to the technical field of positioning equipment performance testing. Comprising a data import module, a three-dimensional plotting module, a comparative analysis module, a result output module and an auxiliary function module, the data import module supports multi-format data import and verification, and the three-dimensional plotting module creates a three-dimensional scene based on a GIS platform, carries out differential plotting positioning and real coordinate point, supports filtering display, and displays a real coordinate point. The comparative analysis module calculates multiple indexes such as static positioning accuracy and dynamic positioning accuracy according to the national standard and covers scenarized and concurrent performance analysis, and the result output module generates a test report including an error thermodynamic diagram and the like and supports data report export and visual result output. The auxiliary function module integrates distance measurement and coordinate conversion tools. The system adopts a B / S architecture, realizes multi-index testing, has the advantage of three-dimensional visualization, is high in multi-scene adaptability, can efficiently process data, is good in expansibility, and provides a comprehensive and accurate solution for performance testing of positioning equipment.

The application relates to a flexible material dynamic positioning control system and method based on real-time length detection, which comprises a transmission mechanism, a sensing mechanism, an encoder, an array air jet group, a peripheral system and a motion controller. The motion controller is connected to the sensing mechanism, the encoder, the array air jet group and the peripheral system. The motion controller is used for calculating the length and displacement of the flexible material according to the response time of the flexible material passing through the sensing mechanism and the conveying speed of the transmission mechanism, dynamically calculating the midpoint position of the flexible material according to the length and displacement of the flexible material, and determining the corresponding array air jet group of the flexible material according to the flexible material obtained by the peripheral system. When the center position of the flexible material reaches the position of the corresponding array air jet group, the corresponding array air jet group is triggered. The array air jet group can realize accurate air blowing sorting of the flexible material, realize adaptive adjustment of the air blowing position of the flexible material with different lengths, and meet the accurate sorting requirements of the flexible material with different lengths.

The invention discloses an unmanned ship safe dynamic positioning method based on a switching fuzzy wavelet network, and the method comprises the steps: building and constructing a switching LPV networked unmanned ship system according to the number of shipborne equipment, designing an event triggering mechanism, and constructing an attack detection observer and a detector in a shore-based system for possible spoofing attacks in communication; designing a safety controller in combination with a switching fuzzy wavelet network and an attack detector, introducing a shore-ship event triggering mechanism, further designing a special attack detector and a control input compensator, and generating a safe event triggering control input; a closed-loop system is constructed by integrating an attack detection observer, an unmanned ship system and control input, and a stable condition of the system is given through theoretical analysis, so that safe dynamic positioning of the unmanned ship under potential network attacks is realized; according to the method, the estimation accuracy can be improved, the safety is improved, and safe dynamic positioning of the networked unmanned ship is realized.

The present invention provides a design method for a ship dynamic positioning assisted mooring system (DPAM) based on a command filter backstepping method. The system comprises a mooring system (1), a command filter controller (2), a thruster system (3), a position reference system (4), a sensor system (5), a DPAM ship (6), a finite time disturbance observer (7), a display and control computer (8), a guidance system (9), a tension sensor (10), etc. The present invention adopts the command filter backstepping method to design a controller, thereby avoiding the complex derivation operation process of the virtual control law and effectively improving the positioning accuracy of the ship dynamic positioning system. At the same time, a finite time estimation is made for the time-varying ocean environment disturbance with the help of a nonlinear finite time disturbance observer, so that the system can obtain a better control effect in the presence of external disturbance.