CN109612454A - Unmanned boat surveys and draws path calibration method, system and unmanned boat - Google Patents
Unmanned boat surveys and draws path calibration method, system and unmanned boat Download PDFInfo
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- CN109612454A CN109612454A CN201811465063.9A CN201811465063A CN109612454A CN 109612454 A CN109612454 A CN 109612454A CN 201811465063 A CN201811465063 A CN 201811465063A CN 109612454 A CN109612454 A CN 109612454A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Manufacturing & Machinery (AREA)
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Abstract
The present invention relates to water environment monitoring technical fields, and in particular to unmanned boat surveys and draws path calibration method, system and unmanned boat, this method comprises: path is surveyed and drawn in object of planning waters；Obtain the target water environmental data in mapping path；According to the deviation between target water environmental data, the practical course line of mapping path computing unmanned boat and mapping path；Mapping path deviation calibration strategy is determined according to deviation.The present invention can carry out Mapping Road diameter according to the mapping path planned and environmental information and calibrate automatically, improve the accuracy and reliability of measurement data.
Description
Technical field
The present invention relates to water environment monitoring technical fields, and in particular to unmanned boat survey and draw path calibration method and nobody
Ship.
Background technique
Traditional water environment, which monitors, and waters mapping is will monitor sensor or mapping equipment is mounted on surveying vessel or sea
On foreign monitoring ship, survey crew plans survey line in advance, and controls the online measurement of surveying vessel by driver.With in recent years with nothing
People's ship is that the appearance of the novel sea mapping carrier of representative carries a variety of monitoring sensors, using spitkit as carrier with distant
Control/autonomous working method completes the specific hydrology and the method for seawater environmental parameters monitoring is more and more concerned.
Unmanned boat has the characteristics that flexible arrangement, cost economy, automatic measurement, hydrographic features observation, monitoring water environment,
Hydraulic engineering addressing and underwater archaeology etc. have broad application prospects.But since unmanned boat has lacked the reality of ship's staff
When monitoring moved towards with artificial adjustment ship, if still relying on traditional planning survey line, apparent region is changed to submarine relief,
If not measuring calibration, it is likely to occur omission white space, technical staff needs to carry out benefit survey to omission white space, increase
Many amount of surveying and mapping work are added.
Therefore, how unmanned boat independently calibrates route of navigating in complicated water environment, to meet mapping and environment prison
The accuracy and reliability requirement of survey, becomes urgent problem to be solved.
Summary of the invention
The present invention provides unmanned boat mapping path calibration method, system and unmanned boats, can be according to the mapping planned
Path and environmental information carry out practical course line and calibrate automatically, improve the accuracy and reliability of measurement data.
The invention provides the following technical scheme:
Unmanned boat surveys and draws path calibration method, comprising:
Path is surveyed and drawn in object of planning waters；
Obtain the target water data in mapping path；
According to inclined between the target water data, the practical course line of the mapping path computing unmanned boat and mapping path
Difference；
Mapping path deviation calibration strategy is determined according to the deviation.
Further, the target water data are target water environmental data, including at least one following data:
Water wave buoyancy, water wave pressure, flow velocity, ocean current distribution, wind speed, wind direction；
Further, according to the target water data, the practical course line of the mapping path computing unmanned boat and Mapping Road
Deviation between diameter, specifically includes:
Obtain the unmanned boat speed of a ship or plane；
The practical course line of unmanned boat is determined according to the target water environmental data, the speed of a ship or plane；
The angle or distance value between the practical course line of unmanned boat and the mapping path are calculated, by the angle or distance value
As deviation.
Further, mapping path deviation calibration strategy is determined according to the deviation, specifically included:
According to the angle or distance value between the practical course line of the unmanned boat of the determination and the mapping path, nobody is determined
The power strategy of ship and course, mapping path deviation calibration strategy include the power strategy and course.
Further, this method further includes:
At least one check point is set on mapping path；
The target water data for obtaining mapping path, comprising: after unmanned boat is navigated by water to the check point, obtain school
The water environment data located on schedule；
It is described according to the target water data, the practical course line of the mapping path computing unmanned boat and mapping path between
Deviation, comprising: according at the check point water environment data calculate check point at the deviation；
It is described that mapping path deviation calibration strategy is determined according to the deviation, comprising: according to the institute at the check point
It states deviation and determines mapping path deviation calibration strategy.
Further, the target water data for obtaining mapping path, specifically include:
The real-time target water environment data in mapping path are obtained, real-time target waters real time environmental data is made
For target water data；
Or, the target water environmental data set in setting duration mapping path is obtained, by the target water environmental data
The mean value of set is as target water data.
Further, the target water data for obtaining mapping path, comprising:
Unmanned boat location information is obtained at predetermined intervals, and unmanned ship route is drawn according to the location information of acquisition
Information, the unmanned boat route information is for describing the practical course line of the unmanned boat, using the unmanned boat route information as mesh
Mark waters data.
Further, according between target water data, the practical course line of mapping path computing unmanned boat and mapping path
Deviation, further includes:
Calculate the angle or distance value between the unmanned ship route of the drafting and the mapping path, by the angle or
Distance value is as the deviation between the practical course line of the unmanned boat and mapping path.
Further, the invention also includes a kind of, and the unmanned boat comprising the above method surveys and draws path calibration system.
Further, the invention also includes it is a kind of comprising the above method and the unmanned boat of system mapping path alignment nobody
Ship.
Unmanned boat mapping path calibration method, system and unmanned boat provided by the invention, can be according to the mapping planned
Path and environmental information carry out practical course line and calibrate automatically, improve the accuracy and reliability of measurement data.
Detailed description of the invention
Fig. 1 is the flow diagram that unmanned boat surveys and draws path calibration method in the embodiment of the present invention；
Fig. 2 is the flow diagram that unmanned boat surveys and draws the first specific embodiment of path calibration method in the embodiment of the present invention；
Fig. 3 is the flow diagram that unmanned boat surveys and draws the second specific embodiment of path calibration method in the embodiment of the present invention；
Fig. 4 is the flow diagram that unmanned boat surveys and draws path calibration method third specific embodiment in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, path calibration method is surveyed and drawn for unmanned boat in the embodiment of the present invention, this method comprises:
Step 101: path is surveyed and drawn in object of planning waters；
Before unmanned boat measures target water, it is necessary first to the mapping path in object of planning waters, to ensure target
Waters, which does not measure, omits blank area.
Step 102: obtaining the target water data in mapping path；
Target water data can be divided into two kinds, and one is target water environmental data, another kind is the course line of target water
Information.
Target water environmental data includes at least one following data: water wave buoyancy, water wave pressure, flow velocity, and ocean current is distributed,
Wind speed, wind direction.
The route information of target water refers to: unmanned boat location information is obtained at predetermined intervals, according to acquisition
Location information draw unmanned boat route information, unmanned boat route information navigates unmanned boat for describing the practical course line of unmanned boat
Line information is as target water data.Location information includes positioning coordinate, is drawn according to the acquisition sequence of location information by each
The line of a positioning coordinate.Unmanned boat is positioned at interval of 5 minutes as set, obtains unmanned boat positioning and second for the first time
The positioning coordinate of secondary positioning, by two positioning coordinate lines, using line as unmanned ship route, using unmanned boat route information as
Target water data.
Step 103: according to inclined between target water data, the practical course line of mapping path computing unmanned boat and mapping path
Difference；
It is separately below target water environmental data to target water data, target water data are the course line of target water
Information, two kinds of situations are introduced.
The first situation: target water data are target water environmental data.
It is calculated according to the speed of a ship or plane of target water environmental data, unmanned boat, calculates the practical course line of unmanned boat；Such as by target water
The wind direction in domain, wind speed, the speed of a ship or plane of unmanned boat bring course line computation model into, calculate the practical course line of unmanned boat.It is real to calculate unmanned boat
Angle or distance value between border course line and mapping path, using angle or distance value as deviation.Deviation can be at nobody
Ship start put into mapping operations before calculated, can also mapping path on multiple check points are set, when unmanned foot extremely
Check point then triggers deviation calculating.I.e. after unmanned boat is navigated by water to check point, the water environment data at check point are obtained.
When deviation calculates, the target water environmental data used can make the real time environmental data of check point, can also be with
It is the environmental data mean value for setting duration.
Second situation: target water data are the route informations of target water.
Angle or distance value between the unmanned ship route and mapping path of calculating and plotting, using angle or distance value as nothing
Deviation between the practical course line of people's ship and mapping path.Such as: calculating unmanned ship route and survey and draw the angle between path, will press from both sides
Angle is as deviation；If the threshold value for being less than setting without angle or angle value between unmanned ship route and mapping path, calculates
The distance between unmanned ship route and mapping path value, using distance value as deviation.
Step 104: mapping path deviation calibration strategy is determined according to deviation.
According to the angle or distance value between the determining practical course line of unmanned boat and mapping path, the power of unmanned boat is determined
Strategy and course.It such as determines that the practical course line of unmanned boat and the angle -30 surveyed and drawn between path are spent, then adjusts unmanned boat course, subtract
Small angle.
As shown in Fig. 2, path calibration method is surveyed and drawn for the first unmanned boat in the embodiment of the present invention, this method comprises:
Step 201: path is surveyed and drawn in object of planning waters；
Step 202: obtaining the real time environmental data of the first check point of target water；
Step 203: being calculated according to the speed of a ship or plane of the real time environmental data of the first check point, unmanned boat, calculate the reality of unmanned boat
Border course line；
Step 204: judge whether the practical course line of unmanned boat and the angle surveyed and drawn between path are greater than given threshold, if more than
Given threshold, thens follow the steps 205, no to then follow the steps 208；
Step 205: according to angle calcu-lation unmanned boat course deflection angle；
Step 206: unmanned boat navigation is controlled according to unmanned boat course deflection angle；
Step 207: terminating；
Step 208: judging whether the distance between the practical course line of unmanned boat and mapping path value are greater than given threshold, if greatly
In given threshold, 209 are thened follow the steps, it is no to then follow the steps 207；
Step 209: unmanned boat course deflection angle being calculated according to distance value, and executes step 206.
As shown in figure 3, path calibration method is surveyed and drawn for second of unmanned boat in the embodiment of the present invention, this method comprises:
Step 301: path is surveyed and drawn in object of planning waters；
Step 302: obtaining the environmental data mean value of target water setting duration；
Step 303: being calculated according to the speed of a ship or plane of the environmental data mean value of setting duration, unmanned boat, calculate the reality of unmanned boat
Course line；
Step 304: judge whether the practical course line of unmanned boat and the angle surveyed and drawn between path are greater than given threshold, if more than
Given threshold, thens follow the steps 305, no to then follow the steps 308；
Step 305: according to angle calcu-lation unmanned boat course deflection angle；
Step 306: unmanned boat navigation is controlled according to unmanned boat course deflection angle；
Step 307: terminating；
Step 308: judging whether the distance between the practical course line of unmanned boat and mapping path value are greater than given threshold, if greatly
In given threshold, 309 are thened follow the steps, it is no to then follow the steps 307；
Step 309: unmanned boat course deflection angle being calculated according to distance value, and executes step 306.
As shown in figure 4, path calibration method is surveyed and drawn for the third unmanned boat in the embodiment of the present invention, this method comprises:
Step 401: path is surveyed and drawn in object of planning waters；
Step 402: obtaining unmanned boat location information at predetermined intervals；
Step 403: drawing the line by nearest two positioning coordinates as nobody according to the acquisition sequence of location information
Ship route；
Step 404: calculating unmanned ship route and survey and draw the angle and distance value between path；
Step 405: judge whether the practical course line of unmanned boat and the angle surveyed and drawn between path are greater than given threshold, if more than
Given threshold, thens follow the steps 406, no to then follow the steps 409；
Step 406: according to angle calcu-lation unmanned boat course deflection angle；
Step 407: unmanned boat navigation is controlled according to unmanned boat course deflection angle；
Step 408: terminating；
Step 409: judging whether the distance between the practical course line of unmanned boat and mapping path value are greater than given threshold, if greatly
In given threshold, 410 are thened follow the steps, it is no to then follow the steps 408；
Step 410: unmanned boat course deflection angle being calculated according to distance value, and executes step 407.
The invention also includes a kind of, and the unmanned boat comprising the above method surveys and draws path calibration system.
Further, the invention also includes it is a kind of comprising the above method and the unmanned boat of system mapping path alignment nobody
Ship.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. unmanned boat surveys and draws path calibration method, which is characterized in that this method comprises:
Path is surveyed and drawn in object of planning waters；
Obtain the target water data in mapping path；
According to the deviation between the target water data, the practical course line of the mapping path computing unmanned boat and mapping path
Value；
Mapping path deviation calibration strategy is determined according to the deviation.
2. the method as described in claim 1, which is characterized in that the target water data are target water environmental data, institute
Stating target water environmental data includes at least one following data:
Water wave buoyancy, water wave pressure, flow velocity, ocean current distribution, wind speed, wind direction.
3. method according to claim 2, which is characterized in that according to the target water data, the mapping path computing
Deviation between the practical course line of unmanned boat and mapping path, specifically includes:
Obtain the unmanned boat speed of a ship or plane；
The practical course line of unmanned boat is determined according to the target water environmental data, the speed of a ship or plane；
Calculate the angle or distance value between the practical course line of unmanned boat and the mapping path, using the angle or distance value as
Deviation.
4. method as claimed in claim 3, which is characterized in that determine mapping path deviation calibration plan according to the deviation
Slightly, it specifically includes:
According to the angle or distance value between the practical course line of the unmanned boat of the determination and the mapping path, unmanned boat is determined
Power strategy and course, mapping path deviation calibration strategy include the power strategy and course.
5. method as claimed in claim 4, which is characterized in that this method further include: at least one is arranged on mapping path
Check point；
The target water data for obtaining mapping path, comprising: after unmanned boat is navigated by water to the check point, obtain check point
The water environment data at place；
It is described inclined according to the target water data, between the practical course line of the mapping path computing unmanned boat and mapping path
Difference, comprising: calculate the deviation at check point according to the water environment data at the check point；
It is described that mapping path deviation calibration strategy is determined according to the deviation, comprising: according to described inclined at the check point
Difference determines mapping path deviation calibration strategy.
6. method a method as claimed in any one of claims 1 to 5, which is characterized in that obtain the target water data in mapping path, specifically
Include:
The real-time target water environment data for obtaining mapping path, using the real-time target water environment data as target water
Data；
Or, the target water environmental data set in setting duration mapping path is obtained, by the target water environmental data set
Mean value as target water data.
7. the method as described in claim 1, which is characterized in that the target water data for obtaining mapping path, comprising:
Unmanned boat location information is obtained at predetermined intervals, and unmanned ship route is drawn according to the location information of acquisition and is believed
Breath, the unmanned boat route information is for describing the practical course line of the unmanned boat, using the unmanned boat route information as target
Waters data.
8. the method for claim 7, which is characterized in that real according to target water data, mapping path computing unmanned boat
Deviation between border course line and mapping path, further includes:
The angle or distance value between the practical course line of the unmanned boat and the mapping path are calculated, by the angle or distance value
As the deviation between the practical course line of the unmanned boat and mapping path.
9. unmanned boat surveys and draws path calibration system, which is characterized in that the system uses any unmanned boat of claim 1-8
Survey and draw path calibration method.
10. a kind of unmanned boat, which is characterized in that the unmanned boat surveys and draws path using any unmanned boat of claim 1-8
System described in calibration method or claim 9.
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| CN111141309A (en) * | 2019-12-03 | 2020-05-12 | 诚邦测绘信息科技(浙江)有限公司 | Unmanned ship surveying and mapping path calibration method, system and computer storage medium |
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| CN112068565A (en) * | 2020-09-10 | 2020-12-11 | 四方智能(武汉)控制技术有限公司 | Unmanned ship autonomous navigation method and system in structured environment |
| CN112465856A (en) * | 2020-11-18 | 2021-03-09 | 珠海大横琴科技发展有限公司 | Unmanned aerial vehicle-based ship track correction method and device and electronic equipment |
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Address after: East China Normal University, 500 Dongchuan Road, Minhang District, Shanghai, 200241 Applicant after: EAST CHINA NORMAL University Applicant after: Zhuhai Yunzhou Intelligent Technology Co.,Ltd. Address before: East China Normal University, 500 Dongchuan Road, Minhang District, Shanghai, 200241 Applicant before: EAST CHINA NORMAL University Applicant before: ZHUHAI YUNZHOU INTELLIGENCE TECHNOLOGY Ltd. |
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Application publication date: 20190412 |