CN106444776B - A kind of autonomous performance estimating method of unmanned boat - Google Patents
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Abstract
A kind of autonomous performance estimating method of unmanned boat includes the following steps: 1) test instrument preparation；2) waters selects；3) Performance Evaluation, including autonomous path planning Performance Evaluation, autonomous path trace Performance Evaluation and autonomous collision prevention Performance Evaluation；4) autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance are assessed using following dimensionless formula respectively.Simultaneously also by repeating autonomous path planning, autonomous path trace, autonomous collision prevention development n times, final autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance are obtained according to the autonomous path planning performance of single, the autonomous path trace performance of single, the autonomous collision prevention performance of single.The present invention is combined by the length for having been converted into dimensionless group and time, trajectory error and with time, path length and time progress ratio, carry out the autonomous performance comprehensive assessment of unmanned boat using weight distribution combination, and proposing specific estimation flow, appraisal procedure is succinct easy, scientific and reasonable.
Description
Technical field
The invention belongs to the autonomous performance researching and designing technical fields of unmanned surface vehicle, and in particular to a kind of unmanned boat independence
It can appraisal procedure.
Background technique
Unmanned surface vehicle has small in size, the speed of a ship or plane fast, mobility strong, modularization etc. as a kind of unattended naval vessels
Feature, can be used for executing danger and be unsuitable for someone's ship execution task, sign in These characteristics, in recent years, the water surface nobody
Ship more obtains people's attention in military and civil field, and the especially autonomous path planning of autonomy-oriented level, autonomous path trace,
Autonomous collision prevention performance is not yet to propose the autonomous Performance Evaluation side of unmanned boat due to domestic an important factor for determining its engineer application
Method, it is difficult to assessment be carried out to the autonomous performance such as the autonomous path planning of unmanned boat, autonomous path trace, autonomous collision prevention, be unfavorable for nothing
The improvement and promotion of the autonomous performance of people's ship, it is therefore necessary to conduct a research to the autonomous performance estimating method of unmanned boat, proposition can be
On lake or sea implements, is easy to operate, ensureing convenient, scientific and reasonable experiment process and appraisal procedure, thus to not commensurate
The unmanned boat of development carries out autonomous Performance Evaluation, and it is horizontal to fully understand domestic unmanned boat autonomy-oriented, at the same time as it is related nobody
Evaluation measures in ship competitiveness research and development program element.
Summary of the invention
The technical problem to be solved by the present invention is to, In view of the above shortcomings of the prior art, provide a kind of unmanned boat from
Main performance estimating method can be at lake surface or sea to fill up the blank that the autonomous performance evaluation measures of domestic unmanned surface vehicle lack
Test assessment is carried out to the autonomous performance of unmanned boat, evaluation process is relatively easy, and appraisal procedure is reasonable.
Used technical solution is the present invention to solve above-mentioned technical problem:
A kind of autonomous performance estimating method of unmanned boat, includes the following steps:
(1) test instrument prepares: test instrument includes at least GPS or Beidou, inertial equipment and admission equipment and stopwatch,
The identical GPS of difference unmanned boat service precision or Beidou (precision is better than 1m) and inertial equipment are autonomous control during test
System provides position and course information, and same admission equipment enrolls unmanned boat ship trajectory coordinate, and same stopwatch records unmanned boat
The autonomous navigation time；
(2) waters selects: according to the autonomous performance of unmanned boat mainly by autonomous path planning performance, autonomous path trace
Energy, autonomous collision prevention performance synthesis determine, assess selection waters for different performance: autonomous path planning Performance Evaluation is in electronics
Carry out on sea chart, select waters complicated on electronic chart, is i.e. selection unmanned boat path starting point and target point line is worn as far as possible
More multi-disc land, multiple islands and reefs；Autonomous path trace Performance Evaluation and autonomous collision prevention Performance Evaluation are carried out in practical waters, select
Spacious waters, such as lake surface or sea (water surface is without other barriers), water surface area according to the actual situation depending on；
(3) Performance Evaluation:
1. autonomous path planning Performance Evaluation
Unmanned boat path starting point M and path target point N, line segment are selected on electronic chartDifferent lands are passed through as far as possible
Ground and islands and reefs (starting point can be arranged in narrow bay, and the numerous region of islands and reefs is arranged in target point),
Linear distance S1At least 150nmile (country's unmanned boat voyage is substantially in 300nmile at present)；Each unmanned boat is according to given
Starting point coordinate and coordinate of ground point contexture by self on electronic chart are tight in planning process from starting point to the path between target point
Prohibit manual intervention, show the path cooked up on electronic chart after the completion of autonomous path planning and extract each node coordinate, manages
T is denoted as by the autonomous path planning time1, while calculating each node path total length Δ S1, and record general planning time Δ t1；
2. autonomous path trace Performance Evaluation
GPS or Beidou are arranged in unmanned boat out of my cabin at same position, admission equipment is fixed in cabin, GPS or Beidou with
Equipment connection is enrolled, latitude and longitude coordinates are enrolled with 10Hz frequency, unmanned boat is denoted as t from starting point constantly21, when reaching target point
It engraves as t22, distance (path total length) S between unmanned boat starting point and target point2, highest speed in autonomous path tracking procedure
It is limited to V2, t is remembered from starting point to the shortest time of target point2=S2/V2；Record is from starting point to target point, autonomous path trace
Unmanned boat pursuit path coordinate in journey；After the test, data processing is carried out, the singular value in trajectory coordinates, Zhi Houji are rejected
Calculate the difference μ of each actual tracking trajectory coordinates and each theoretical pursuit path coordinatek, k=1,2 ..., m, m are the track actually enrolled
Point sum, and record general planning time Δ t2；
3. autonomous collision prevention Performance Evaluation
Unmanned boat starting point and target point, linear distance S are set in spacious waters3(at least 3km), in starting point and mesh
Barrier is arranged at punctuate line center, places reflector on barrier；
GPS or Beidou are arranged in unmanned boat out of my cabin at same position, admission equipment is fixed in cabin, GPS or Beidou with
Equipment connection is enrolled, latitude and longitude coordinates are enrolled with 10Hz frequency, unmanned boat is denoted as t from starting point constantly31, when reaching target point
It engraves as t32, highest speed is limited to V during navigation3, t is remembered from starting point to the shortest time of target point3=S3/V3, unmanned boat
During from starting point to target point autonomous navigation, road is planned in the obstacle distance that is detected according to sensor, orientation, part again
Diameter records unmanned boat trajectory coordinates during from starting point to target point with autonomous avoiding obstacles；After the test, data are carried out
The singular value in trajectory coordinates is rejected in processing, calculates tracing point total length Δ S later3, and record general planning time Δ t3；
(4) appraisal procedure
Autonomous path planning performance Γ is assessed using following dimensionless formula respectivelyrou_plan, autonomous path trace performance
Γrou_trac, autonomous collision prevention performance Γanti_coll:
Wherein, 0≤σ1,σ3,σ5≤, 0≤σ2,σ4,σ6≤ 1, σ1+σ2=1, σ3+σ4=1, σ5+σ6=1, Δ t2=t22-t21,
Δt3=t32-t31。
According to the above scheme, every unmanned boat repeats above-mentioned test n times, n >=8, i.e., autonomous path planning, from main path with
Track, autonomous collision prevention carry out n times, the autonomous path planning performance of single, the autonomous path trace performance of single, the autonomous collision prevention of single respectively
Performance is denoted as respectivelyI=1,2 .., n, then final autonomous path planning performance, autonomous
Path trace performance, autonomous collision prevention performance calculating formula difference are as follows:
The autonomous performance Γ of unmanned boat is mainly by autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance
Comprehensive to determine, calculation formula is as follows:
Wherein, 0≤ω1,ω2,ω3≤ 1, ω1+ω2+ω3=1, ω1,ω2,ω3Depending on according to the actual situation；
The autonomous performance of unmanned boat is assessed by comparing the size of Γ, Γ value is smaller, and the autonomous performance of unmanned boat is better.
According to the above scheme, in autonomous path planning Performance Evaluation, the parameter in formula (1) makees following selection σ1>=0.9, σ2
≤ 0.1, t1=10 (there is the sufficient time to carry out autonomous path planning work before setting out due to unmanned boat under normal circumstances, and
The autonomous path planning time is generally all in 10s, and it is that everybody compares concern that whether the path total length cooked up is most short,
The autonomous main evaluation index of path planning performance, real-time can generally be met the requirements, belong in Performance Evaluation it is secondary because
Element).
According to the above scheme, during autonomous path trace and autonomous collision prevention, time and precision (or actual path length)
Consider simultaneously, respective weight selects according to the actual situation, the parameter selection σ in formula (2) and formula (3)3=0.5, σ4=0.5, σ5
=0.5, σ6=0.5.
According to the above scheme, in formula (7), ω is selected1=1/3, ω2=1/3, ω3=1/3.
According to the above scheme, waters length at least 5km, width at least 500m in the step (2).
According to the above scheme, in autonomous collision prevention Performance Evaluation, barrier is simulated using canoe, places reflector on canoe, small
Ship is fixed on lakebed or seabed by casting anchor or other means, and canoe length and reflector size, arrangement height are according to practical feelings
Condition is fixed (canoe uses the left and right 3m long, 1m wide).
According to the above scheme, in autonomous collision prevention Performance Evaluation, if unmanned boat track enters using barrier center as the center of circle, radius
For in the circle of R, then the autonomous collision prevention failure of unmanned boat, wherein R meets: 2R=1.5 times of obstacle length.
Compared with prior art, the present invention has the following advantages:
1, the present invention uses the unmanned boat path length that contexture by self goes out in limited distance and time by proposing, limited
Apart from interior autonomous path trace trajectory error and and time, ship trajectory length and time in limited distance, and will have been converted into
It the length of dimensionless group and time, trajectory error and carries out ratio with time, path length and time and combines to assess nobody
The height or superiority and inferiority of the autonomous path planning performance of ship, autonomous path trace performance, autonomous collision prevention performance；
2, above-mentioned three kinds of performances are based on, carry out the autonomous performance comprehensive assessment of unmanned boat using weight distribution combination, simultaneously
Specific estimation flow is proposed, evaluation process safeguard is convenient, appraisal procedure is succinct easy and scientific and reasonable, can be in lake surface
Or it is marine to unmanned boat autonomous performance development test assessment, achievement has filled up the autonomous performance evaluation measures of domestic and international unmanned surface vehicle
The blank of shortage；
3, the present invention can be used for opening the especially autonomous collision prevention performance height of different type unmanned surface vehicle autonomous performance height
Test assessment is opened up, is the important means for verifying unmanned boat automatic navigation control system design superiority and inferiority.
Detailed description of the invention
Fig. 1 is the autonomous path planning Performance Evaluation schematic diagram of unmanned boat of the embodiment of the present invention；
Fig. 2 is the autonomous path trace Performance Evaluation schematic diagram of unmanned boat of the embodiment of the present invention；
Fig. 3 is the autonomous collision prevention Performance Evaluation schematic diagram of unmanned boat of the embodiment of the present invention.
Specific embodiment
Below according to specific embodiment and in conjunction with attached drawing, the present invention is described in further detail.
(1) autonomous path planning Performance Evaluation embodiment
As shown in Figure 1, selecting a certain complex region on electronic chart, starting point M and target point N, linear distance are set
For S1, S1>=150nmile, line pass through multi-disc land and islands and reefs.Each unmanned boat is according to given starting point coordinate and target point
Coordinate contexture by self on electronic chart forbids manual intervention in planning process, independently from starting point to the path between target point
The path cooked up need to be shown after the completion of path planning on sea chart and extracts each node coordinate such as A, B, C, D as shown in figure 1, simultaneously
Calculate each node path total length Δ S1, Δ S1=MA+AB+BC+CD+CN, and record general planning time Δ t1。
(2) autonomous path trace Performance Evaluation embodiment
As shown in Fig. 2, the path that calibration unmanned boat need to track on spacious lake surface or sea, path total length is S2
(its length according to the actual situation depending on, generally at least 5km).Unmanned boat is located at starting point M, autonomous path trace during test
Terminal is target point N, and highest speed is limited to V in autonomous path trace2(such as 30kn), then from starting point to target point most in short-term
Between t2=S2/V2；Unmanned boat is from starting point moment t21Start timing, until target point moment t22Timing terminates, and records unmanned boat
(all unmanned boats are all made of identical GPS or Beidou, precision to autonomous path trace trajectory coordinates during from starting point to target point
Better than 1m), track dot frequency according to the actual situation depending on (10Hz generally can be used).After the test, data processing is carried out, is picked
Except the singular value in trajectory coordinates, each actual tracking path locus coordinate is calculated later and needs the difference μ of track path trajectory coordinatesk
(k=1,2 ..., m, m are the tracing point sum actually enrolled), and record general planning time Δ t2。
μkCalculation method is following (by taking Fig. 2 middle conductor MA as an example):
Straight line MA equation is calculated according to M point coordinate and A point coordinate, circular can refer to related high school mathematics class
This.Coordinate relationship between longitude and latitude is obtained after obtaining straight line MA equation, later by actual tracking path locus coordinateIn λiOrStraight line MA equation is substituted into, just obtains theoretical latitude laterOr longitude λk-true, thenOr μk=λk-λk-true。
(3) autonomous collision prevention Performance Evaluation embodiment
As shown in figure 3, demarcating starting point and target point, linear distance S on spacious lake surface or sea3(its length
Depending on according to the actual situation, generally at least 3km), barrier is arranged in the center position of starting point, target point line, obstacle
Reflector is placed on object.Unmanned boat is located at starting point M during test, and autonomous navigation terminal is target point N, highest boat in navigation
Speed limit is made as V3(such as 30kn), then the shortest time t from starting point to target point3=S3/V3；Unmanned boat is from starting point moment t31
Start timing, until target point moment t32Timing terminates, and unmanned boat is during from starting point to target point autonomous navigation, according to sensor
The obstacle distance that is detected, orientation, will locally planning path be recorded with autonomous avoiding obstacles from starting point to target point again
Unmanned boat trajectory coordinates (all unmanned boats are all made of identical GPS or Beidou, and precision is better than 1m) in the process, track dot frequency
(10Hz generally can be used) depending on according to the actual situation.After the test, data processing is carried out, is rejected unusual in trajectory coordinates
Value calculates tracing point total length Δ S later3, and record general planning time Δ t3.If in data handling procedure unmanned boat track into
Enter the then autonomous collision prevention failure of unmanned boat using in the circle that barrier center is the center of circle, radius for R (2R=1.5 times of captain).
Autonomous path planning performance, autonomous path trace performance, autonomous is assessed respectively using dimensionless formula (1)~(3)
Collision prevention performance in formula (1)~(3), is typically chosen σ1>=0.9, σ2≤ 0.1, t1=10, σ3=0.5, σ4=0.5, σ5=0.5, σ6
=0.5.
Every unmanned boat repeats above-mentioned test n times (n >=8), the autonomous path planning performance of single, the autonomous path trace of single
The autonomous collision prevention performance of performance, single is denoted as respectively(i=1,2 .., n), then it is final from
Main path plans performance, autonomous path trace performance, autonomous collision prevention performance calculating formula respectively as shown in formula (4), (5), (6).
If the autonomous collision prevention failure of i-th unmanned boat,(ε=5~10), (j=1,
2,...,n,j≠i)。
The autonomous performance Γ of unmanned boat is mainly by autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance
It is comprehensive to determine, shown in calculation formula such as formula (7).
The autonomous performance of unmanned boat is evaluated by comparing the size of Γ, Γ value is smaller, and the autonomous performance of unmanned boat is higher.
Barrier is simulated using canoe in embodiment, places reflector, small captain 3m or so, width 1m or so on canoe, small
Ship is fixed on lakebed or seabed by casting anchor or other means.
The present invention can be autonomous to the autonomous path planning of unmanned boat, autonomous path trace, autonomous collision prevention etc. according to actual needs
Performance carries out assessment.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of autonomous performance estimating method of unmanned boat, which comprises the steps of:
(1) test instrument prepares: test instrument includes at least GPS or Beidou, inertial equipment and admission equipment and stopwatch, test
The identical GPS of different unmanned boat service precision or Beidou and inertial equipment provide position and boat for self-control system in the process
To information, same admission equipment enrolls unmanned boat ship trajectory coordinate, and same stopwatch records the unmanned boat autonomous navigation time；
(2) waters select: according to the autonomous performance of unmanned boat mainly by autonomous path planning performance, autonomous path trace performance, from
Main collision prevention performance synthesis determines, assesses selection waters for different performance: autonomous path planning Performance Evaluation is only in electronic chart
Upper development, selects waters complicated on electronic chart, i.e. selection unmanned boat path starting point and target point line passes through more as far as possible
Piece land, multiple islands and reefs；Autonomous path trace Performance Evaluation and autonomous collision prevention Performance Evaluation are carried out in practical waters, and selection is spacious
Lake surface or sea waters, water surface area according to the actual situation depending on；
(3) Performance Evaluation:
1. autonomous path planning Performance Evaluation
Unmanned boat path starting point M and path target point N, line segment are selected on electronic chartPass through as far as possible different land and
Islands and reefs,Linear distance S1At least 150nmile；Each unmanned boat is according to given starting point coordinate and coordinate of ground point in electron sea
Contexture by self forbids manual intervention from starting point to the path between target point on figure in planning process, and autonomous path planning is completed
The path cooked up is shown on electronic chart afterwards and extracts each node coordinate, the theoretical autonomous path planning time is denoted as t1, together
When calculate each node path total length Δ S1, and record general planning time Δ t1；
2. autonomous path trace Performance Evaluation
GPS or Beidou are arranged in unmanned boat out of my cabin at same position, admission equipment is fixed in cabin, GPS or Beidou and admission
Equipment connection enrolls latitude and longitude coordinates with 10Hz frequency, and unmanned boat is denoted as t from starting point constantly21, reach target point moment note
For t22, distance S between unmanned boat starting point and target point2, highest speed is limited to V in autonomous path tracking procedure2, from starting point to
The shortest time of target point remembers t2=S2/V2；Record is from starting point to target point, and unmanned boat tracks rail in autonomous path tracking procedure
Mark coordinate；After the test, data processing is carried out, the singular value in trajectory coordinates is rejected, calculates each actual tracking track later
The difference μ of coordinate and each theoretical pursuit path coordinatek, k=1,2 ..., m, m are the tracing point sum actually enrolled, and are recorded total
Planning time Δ t2；
3. autonomous collision prevention Performance Evaluation
Unmanned boat starting point and target point, linear distance S are set in spacious waters3, at starting point and target point line center
It arranges barrier, places reflector on barrier；
GPS or Beidou are arranged in unmanned boat out of my cabin at same position, admission equipment is fixed in cabin, GPS or Beidou and admission
Equipment connection enrolls latitude and longitude coordinates with 10Hz frequency, and unmanned boat is denoted as t from starting point constantly31, reach target point moment note
For t32, highest speed is limited to V during navigation3, t is remembered from starting point to the shortest time of target point3=S3/V3, unmanned boat is from
Point to during target point autonomous navigation, detected according to sensor obstacle distance, orientation, part again planning path with
Autonomous avoiding obstacles record unmanned boat trajectory coordinates during from starting point to target point；After the test, it carries out at data
Reason rejects the singular value in trajectory coordinates, calculates tracing point total length Δ S later3, and record general planning time Δ t3；
(4) appraisal procedure
Autonomous path planning performance Γ is assessed using following dimensionless formula respectivelyrou_plan, autonomous path trace performance
Γrou_trac, autonomous collision prevention performance Γanti_coll:
Wherein, 0≤σ1,σ3,σ5≤ 1,0≤σ2,σ4,σ6≤ 1, σ1+σ2=1, σ3+σ4=1, σ5+σ6=1, Δ t2=t22-t21, Δ
t3=t32-t31。
2. the autonomous performance estimating method of unmanned boat according to claim 1, which is characterized in that every unmanned boat repeats above-mentioned
N times are tested, n >=8, i.e., n times, the autonomous path planning of single are carried out in autonomous path planning, autonomous path trace, autonomous collision prevention respectively
The autonomous path trace performance of performance, single, the autonomous collision prevention performance of single are denoted as respectively Then final autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance calculating formula difference
It is as follows:
The autonomous performance Γ of unmanned boat is mainly by autonomous path planning performance, autonomous path trace performance, autonomous collision prevention performance synthesis
It determines, calculation formula is as follows:
Wherein, 0≤ω1,ω2,ω3≤ 1, ω1+ω2+ω3=1, ω1,ω2,ω3Depending on according to the actual situation；
The autonomous performance of unmanned boat is assessed by comparing the size of Γ, Γ value is smaller, and the autonomous performance of unmanned boat is better.
3. the autonomous performance estimating method of unmanned boat according to claim 1, which is characterized in that in autonomous path planning performance
In assessment, the parameter in formula (1) makees following selection σ1>=0.9, σ2≤ 0.1, t1=10.
4. the autonomous performance estimating method of unmanned boat according to claim 1, which is characterized in that in autonomous path trace and certainly
During main collision prevention, time and precision consider simultaneously, and respective weight selects according to the actual situation, the ginseng in formula (2) and formula (3)
Number selection σ3=0.5, σ4=0.5, σ5=0.5, σ6=0.5.
5. the autonomous performance estimating method of unmanned boat according to claim 2, which is characterized in that in formula (7), select ω1=
1/3, ω2=1/3, ω3=1/3.
6. the autonomous performance estimating method of unmanned boat according to claim 1, which is characterized in that waters in the step (2)
Length at least 5km, width at least 500m.
7. the autonomous performance estimating method of unmanned boat according to claim 1, which is characterized in that autonomous collision prevention Performance Evaluation
In, barrier is simulated using canoe, places reflector on canoe, and canoe is fixed on lakebed or sea by casting anchor or other means
Bottom, canoe length and reflector size, arrangement height are fixed according to the actual situation.
8. the autonomous performance estimating method of unmanned boat according to claim 1, which is characterized in that autonomous collision prevention Performance Evaluation
In, if it is the center of circle, radius in the circle of R, the autonomous collision prevention of unmanned boat fails that unmanned boat track, which enters using barrier center, wherein
R meets: 2R=1.5 times of obstacle length.
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| CN110517537A (en) * | 2019-07-29 | 2019-11-29 | 智慧航海（青岛）科技有限公司 | A kind of unmanned boat autonomous navigation system and method |
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