CN109885085B - Ship replenishment method based on Beidou relative positioning and unmanned aerial vehicle control technology - Google Patents
Ship replenishment method based on Beidou relative positioning and unmanned aerial vehicle control technology Download PDFInfo
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Abstract
The invention discloses a ship supply method based on Beidou relative positioning and unmanned aerial vehicle control technology, and belongs to the field of offshore supply. The invention comprises the following steps: the unmanned aerial vehicle carries supply materials on the supply ship and autonomously flies to the supplied ship after the supply materials are carried on the supply ship; in the flight process of the unmanned aerial vehicle, the position information data of the unmanned aerial vehicle relative to a supply ship and a supplied ship is accurately acquired in real time through a Beidou carrier phase difference phase-splitting relative positioning technology, and the path planning and flight control of the unmanned aerial vehicle are carried out; the unmanned aerial vehicle finally and autonomously stops on the ship to be supplied, and the crew on the ship to be supplied receives materials; after the materials are received, the unmanned aerial vehicle automatically flies back to the supply ship, and the crew on the supply ship carries the supply materials again; the above process is repeated circularly until the replenishment task is completed. The unmanned aerial vehicle is used as a material transportation tool between supply ships by combining an unmanned aerial vehicle control technology and a Beidou relative positioning technology, and the unmanned aerial vehicle has the advantages of high flexibility, strong autonomy, quick and accurate supply and the like.
Description
Technical Field
The invention belongs to the field of marine replenishment, and particularly relates to a ship replenishment method based on Beidou high-precision relative positioning and unmanned aerial vehicle control technology.
Background
The ocean comprehensive replenishment system is a core system on a replenishment ship and is used for replenishing goods and materials such as dry goods, liquid goods and the like to a replenishment ship. There are four conventional offshore replenishment methods: course transverse supply, course longitudinal supply, anchoring supply and vertical supply.
Wherein the course transverse supply requires that two ships keep the same direction and the same speed, and the crew members use the steel cable to transport materials. Because the two ships are close during replenishment, a high technique for operating the ship is required for a naval crew, and collision accidents between the replenishment ship and the replenished ship are avoided; the course longitudinal supply requires that two ships are longitudinally arranged, keep the same direction and the same speed, and mostly supply the liquid goods of the oil pipeline; the requirement of mooring replenishment is stopped on the wharf by a replenishment ship, and the conventional replenishment mode is adopted, so that the replenishment is inflexible and is basically eliminated; vertical supply mainly relies on the helicopter to carry out the material supply, and the supply distance can be nearly can far away, and the supply is comparatively nimble, but needs the helicopter pilot, and consumes a large amount of manpowers, material resources, financial resources. In the four ship supply modes, except for vertical supply and anchoring supply, material transportation channels such as supports, pipelines and the like are required between a supply ship and a supplied ship, so that the requirements on the operation technology of ship operators are high, the danger is high, and large manpower and material resources are required to be consumed.
Disclosure of Invention
The invention aims to solve the problems that a traditional ship supply mode is high in danger and consumes a large amount of manpower and financial resources, and provides a ship supply method based on Beidou relative positioning and unmanned aerial vehicle control technology.
The purpose of the invention is realized as follows:
a ship supply method based on Beidou relative positioning and unmanned aerial vehicle control technology comprises the following steps:
(1) the unmanned aerial vehicle is parked on the supply ship to carry supply materials, and after the supply materials are carried completely, the unmanned aerial vehicle carries the supply materials to fly to the supplied ship independently;
(2) the unmanned aerial vehicle flies to the vicinity of the supplied ship and automatically falls into a supplied area on the supplied ship;
(3) after the crew on the supplied ship receives the supply materials hung on the unmanned aerial vehicle, the unmanned aerial vehicle automatically flies back to the supplied ship from the supplied ship;
(4) the unmanned aerial vehicle flies back to the vicinity of the supply ship, automatically lands on the supply ship, and carries supply materials for the unmanned aerial vehicle again by crews on the supply ship;
(5) the unmanned aerial vehicle reciprocates according to the above process cycle until the supply task is completed.
After the supply materials are completely hung in the step 1, the unmanned aerial vehicle carries the supply materials to fly to the supplied ship independently, and the technology specifically comprises the following steps:
(1.1) when the unmanned aerial vehicle flies, the position information of the unmanned aerial vehicle relative to a supply ship and a supplied ship is accurately acquired in real time through a Beidou relative positioning technology;
and (1.2) the unmanned aerial vehicle accurately acquires the relative position information of the unmanned aerial vehicle, a replenishing ship and a supplied ship in real time, and then performs unmanned aerial vehicle path planning and flight control by using the acquired data.
The unmanned aerial vehicle in step 1.1 obtains the position information of the unmanned aerial vehicle relative to a supply ship and a supplied ship in real time and accurately by a Beidou relative positioning technology during flight, and the technology specifically comprises the following steps:
(1.1.1) fixedly placing a Beidou receiver module and a communication module in a replenishment area of a replenishment ship, and building a base station;
(1.1.2) fixedly placing a Beidou receiver module and a communication module in a replenishment area of a replenished ship, and building a base station;
(1.1.3) installing a Beidou receiver module, a communication module and a Beidou positioning module at the top of the unmanned aerial vehicle, wherein the unmanned aerial vehicle is regarded as a mobile station;
(1.1.4) supplying a base station on the ship, receiving Beidou satellite navigation signals in real time through a receiver module, calculating and obtaining differential information, and broadcasting the differential information outwards in real time through a communication module; a receiver module of the unmanned aerial vehicle receives navigation signals of a plurality of satellites in real time; a communication module of the unmanned aerial vehicle receives differential information broadcasted by a supply ship in real time; the positioning module of the unmanned aerial vehicle carries out real-time carrier phase double difference by utilizing the received satellite navigation signals and the differential information, calculates the integer ambiguity, carries out corresponding correctness check, and ensures the correctness of the calculation result, thereby obtaining the real-time baseline vector of the supply ship and the unmanned aerial vehicle under the geocentric and geostationary coordinate system, converting the baseline vector into the baseline vector under the local horizontal coordinate system by the geometric topological relation, and obtaining the relative position relation of the real-time high-precision unmanned aerial vehicle and the supply ship; obtaining a relative position relation between a supplied ship and the unmanned aerial vehicle with real-time high precision according to the same process;
(1.1.5) the unmanned aerial vehicle controller transmits the obtained relative position information data to base stations on a supply ship and a receiving ship in real time; and base stations on the supply ship and the supplied ship perform visual processing on the relative position information data, so that crews of both parties can monitor the flight state of the unmanned aerial vehicle in real time.
The unmanned aerial vehicle in step 1.2 utilizes the obtained relative position data to carry out unmanned aerial vehicle path planning and flight control, and the method specifically comprises the following processes:
(1.2.1) feeding back real-time high-precision relative position information obtained by a controller on the unmanned aerial vehicle as position information to the controller of the unmanned aerial vehicle;
(1.2.2) the unmanned aerial vehicle flight control system performs closed-loop control on the position of the unmanned aerial vehicle, controls the unmanned aerial vehicle to fly towards the direction of reducing the relative distance between the unmanned aerial vehicle and a supplied ship, and keeps the linear distance between the unmanned aerial vehicle and the supplied ship to be greater than 10 meters so as to prevent the unmanned aerial vehicle from colliding with the supplied ship;
and (1.2.3) the unmanned aerial vehicle realizes the technical goals of taking off from the supply ship and flying to the supplied ship independently with supply materials.
The unmanned aerial vehicle flies to the vicinity of the supplied ship and automatically falls into a supplied area on the supplied ship, and the method specifically comprises the following steps:
(2.1) the unmanned aerial vehicle flight control system performs position closed-loop control on the unmanned aerial vehicle by combining position information obtained by the Beidou relative positioning technology, wherein at a certain moment, east-direction coordinates and north-direction coordinates of a baseline vector under a local horizontal coordinate system are zero at the same time, namely the unmanned aerial vehicle flies right above a supplied ship;
(2.2) the unmanned aerial vehicle hovers temporarily above the supplied ship and then slowly falls into the supplied area;
and (2.3) after the unmanned aerial vehicle is completely parked, receiving the supply materials by crews on the supply ship.
After the supply materials are received in the steps 3 and 4, the unmanned aerial vehicle autonomously flies back to the vicinity of the supply ship from the supply ship and autonomously lands on the supply ship, in the process, the flying autonomy and path planning of the unmanned aerial vehicle are consistent with the technology required by the unmanned aerial vehicle in the process of flying from the supply ship to the supply ship, namely, the relative position information between the unmanned aerial vehicle and the supply ship and the relative position information between the unmanned aerial vehicle and the supply ship are obtained in real time in the flying process of the unmanned aerial vehicle through a Beidou relative positioning technology, and the technical target that the unmanned aerial vehicle autonomously parks back to the supply ship is realized by combining with the unmanned aerial vehicle flight control technology.
The invention has the beneficial effects that:
according to the invention, a material conveying structure is not required to be built in the whole supply process, the supply materials are completely transported by the unmanned aerial vehicle, and only crews are required to participate in the process of mounting and receiving the supply materials for the unmanned aerial vehicle, so that the unmanned aerial vehicle has high autonomy. The unmanned aerial vehicle is used as a material transportation tool between supply ships by combining an unmanned aerial vehicle control technology and a Beidou relative positioning technology, and the unmanned aerial vehicle has the advantages of high flexibility, strong autonomy, quick and accurate supply and the like.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating event development according to an embodiment of the present invention;
fig. 3 is a block diagram of an internal structure of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the Beidou relative positioning technology related to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The invention provides a ship supply method based on Beidou relative positioning and unmanned aerial vehicle control technology.
As shown in fig. 1, to describe the intention of the present invention more clearly, an implementation scenario of the present invention is set first, where the implementation scenario of the present invention is that a replenishment ship performs single replenishment on a replenishment ship through an unmanned aerial vehicle, and includes: supply warship 1, basic station 2, many big dipper navigation satellite 3, unmanned aerial vehicle 4, basic station 5, receive supply warship 6.
The crew member on the supply ship 1 carries supply materials for the unmanned aerial vehicle 4, after the supply materials are carried, the unmanned aerial vehicle 4 automatically takes off from the supply ship 1 to the supplied ship 6 and accurately stops in the supplied area on the supplied ship 6, at the moment, the crew member on the supplied ship 6 receives the supply materials from the unmanned aerial vehicle 4, after the supply materials are received, the unmanned aerial vehicle 4 automatically takes off from the supplied area to return to the supply ship 1 and accurately stops in the supplied area. This has just accomplished unmanned aerial vehicle to receiving the single supply task of supply ship.
The purpose of the invention is realized by the following technical scheme:
as shown in fig. 2, the method comprises the steps of:
s100, the crew on the supply ship 1 carries supply materials for the unmanned aerial vehicle 4 in the supply area.
Before the supply task is executed, crews on the supply ship 1 reasonably mount supply materials for the unmanned aerial vehicle 4 in a supply area according to the weather conditions and the demand size of the supply materials, and the load and safety requirements of the unmanned aerial vehicle 4 are met.
S101, the unmanned aerial vehicle 4 carries the supply materials to fly to the supplied ship 6.
S102, the unmanned aerial vehicle 4 automatically stops on the supplied ship 6.
In order to enable the unmanned aerial vehicle 4 to fly against the refuelling ship independently and accurately. In the flight process of the unmanned aerial vehicle 4, the base station 2 on the supply ship 1 and the base station 5 on the supply ship 6 receive signals of a plurality of Beidou navigation satellites 3 in real time through the Beidou receiver module, calculate and obtain differential information, and broadcast the differential information outwards in real time by using the communication module. The Beidou receiver module 203 of the unmanned aerial vehicle 4 receives navigation signals of a plurality of Beidou navigation satellites 3 in real time, the communication module 202 of the unmanned aerial vehicle 4 receives differential information broadcast by the supply warship 1 and the supply warship 6 in real time, the Beidou positioning module 201 of the unmanned aerial vehicle carries out real-time carrier phase double difference by utilizing the received satellite navigation signals and the differential information, the whole-cycle ambiguity is resolved, corresponding correctness check is carried out, and the correctness of the resolving result is guaranteed, so that the real-time baseline vectors between the supply warship 1 and the unmanned aerial vehicle 4 and between the supply warship 6 and the unmanned aerial vehicle 4 are obtained, the baseline vectors are converted into the baseline vectors under a local horizontal coordinate system through a geometric topological relation, and the relative position relation between the unmanned aerial vehicle 4 and the supply warship 1 and the supply warship 6 with high real time and high precision is obtained.
After the unmanned aerial vehicle 4 obtains the relative position information in real time, the unmanned aerial vehicle 4 can independently fly to the supplied ship 6 after taking off from the supply area on the supplied ship 1 by combining the unmanned aerial vehicle control technology, and can accurately stop in the supplied area.
S103, receiving the supply materials hung on the unmanned aerial vehicle 4 by the crew on the supply ship 6.
The crew on the supplied ship 6 can use tools such as a trailer to send the received supplied materials on the unmanned aerial vehicle 4 into the cabin and arrange the materials in order.
And S104, the unmanned aerial vehicle 4 flies back to the supply ship 1 from the supplied ship 6, stops in a supply area on the supply ship 1, and carries supply materials for the unmanned aerial vehicle 4 again by the crew on the supply ship 1.
The process and the technology that the unmanned aerial vehicle 4 takes off from the supply ship 1 and autonomously flies to the supplied ship 6 are consistent with those of the prior art, and the unmanned aerial vehicle 4 also utilizes the Beidou relative positioning technology to acquire the relative position information of the unmanned aerial vehicle 4 and the supply ship 1 and the supplied ship 6 in real time.
The relative position information obtained by the unmanned aerial vehicle 4 in real time is combined with an unmanned aerial vehicle control technology, so that the unmanned aerial vehicle 4 can independently return to the supply ship 1 after taking off from the supplied area on the supplied ship 6, and can accurately stop in the supply area.
The drone 4 has already returned to the supply vessel, i.e. a single supply mission to the supplied vessel 6 is completed, and the next supply mission can be prepared.
As shown in fig. 3, as a possible embodiment, in order to ensure implementation of the Beidou relative positioning technology, the internal structure block diagram of the replenishment unmanned aerial vehicle system 205 further includes:
As shown in fig. 4, the Beidou relative positioning technology related to the invention comprises the following steps:
the base station receives the Beidou satellite navigation signal and broadcasts a differential signal 300;
the mobile station receives the differential information and the Beidou satellite navigation signal 301;
the mobile station carries out real-time carrier phase double differences, resolves the integer ambiguity and carries out corresponding correctness check 302;
and obtaining a relative position vector 303 of the mobile station and the base station, namely obtaining relative position information of the unmanned aerial vehicle relative to the supply ship and the supplied ship.
The foregoing is a more detailed description of the present invention in connection with specific preferred embodiments thereof, and it is not intended that the specific embodiments of the present invention be limited to these descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (3)
1. A ship supply method based on Beidou relative positioning and unmanned aerial vehicle control technology is characterized by comprising the following steps:
step 1: before the supply task is executed, crews on the supply ship (1) reasonably mount supply materials for the unmanned aerial vehicle (4) in a supply area according to weather conditions and the size of the supply material demand, so that the load and safety requirements of the unmanned aerial vehicle (4) are met;
the unmanned aerial vehicle (4) comprises a flight control module (200), a Beidou positioning module (201), a communication module (202), a Beidou receiver module (203) and a supply material mounting module (204);
step 2: the unmanned aerial vehicle (4) carries the supplies to fly to the supplied ship (6);
and step 3: the unmanned aerial vehicle (4) automatically stops on the supplied ship (6);
in order to enable the unmanned aerial vehicle (4) to independently and accurately fly to and support the supplied warship (6), in the flying process of the unmanned aerial vehicle (4), a base station (2) on the supplied warship (1) and a base station (5) on the supplied warship (6) receive signals of a plurality of Beidou navigation satellites (3) in real time through a Beidou receiver module, calculate and obtain differential information, and broadcast the differential information outwards in real time by using a communication module;
a Beidou receiver module (203) of an unmanned aerial vehicle (4) receives navigation signals of a plurality of Beidou navigation satellites (3) in real time, a communication module (202) of the unmanned aerial vehicle (4) receives differential information broadcast by a supply ship (1) and a supply ship (6) in real time, a Beidou positioning module (201) of the unmanned aerial vehicle carries out real-time carrier phase double difference by utilizing the received satellite navigation signals and the differential information, resolves the integer ambiguity, carries out corresponding correctness test, and ensures the correctness of the resolving result, thereby obtaining the real-time baseline vector between the replenishing warship (1) and the unmanned aerial vehicle (4) and between the replenished warship (6) and the unmanned aerial vehicle (4), converting the baseline vector into the baseline vector under the local horizontal coordinate system by the geometrical topological relation, namely, the relative position relation between the unmanned aerial vehicle (4) and the replenishment ship (1) and the supplied ship (6) with high real-time precision is obtained;
after the unmanned aerial vehicle (4) obtains the relative position information in real time, the unmanned aerial vehicle (4) can autonomously fly to the supplied ship (6) after taking off from a supply area on the supplied ship (1) and accurately stop in the supplied area by combining an unmanned aerial vehicle control technology;
and 4, step 4: a crew member on the ship to be supplied (6) receives the supply materials carried on the unmanned aerial vehicle (4);
and 5: the unmanned aerial vehicle (4) flies back to the supply ship (1) from the supply ship (6), stops in a supply area on the supply ship (1), and carries supply materials for the unmanned aerial vehicle (4) again by crews on the supply ship (1);
the process and the technology of the unmanned aerial vehicle (4) taking off from the supply ship (1) and flying to the supplied ship (6) are consistent with those of the process and the technology of the unmanned aerial vehicle (4) in the step 3, and the unmanned aerial vehicle (4) also utilizes the Beidou relative positioning technology to obtain the relative position information of the unmanned aerial vehicle (4), the supply ship (1) and the supplied ship (6) in real time;
the unmanned aerial vehicle (4) obtains relative position information in real time, and by combining an unmanned aerial vehicle control technology, the unmanned aerial vehicle (4) can independently return to the supply ship (1) after taking off from a supplied area on the supplied ship (6) and accurately stop in the supply area;
the unmanned aerial vehicle (4) returns to the supply ship, namely, the single supply task of the supplied ship (6) is completed, and the next supply task can be prepared.
2. The ship replenishment method based on the Beidou relative positioning and unmanned aerial vehicle control technology as claimed in claim 1, wherein: the unmanned aerial vehicle (4) can fly to the supplied ship (6) independently after taking off from the supply area on the supplied ship (1), and the method for accurately stopping in the supplied area specifically comprises the following steps:
step 3.1: real-time high-precision relative position information obtained by a controller on the unmanned aerial vehicle is fed back to the controller of the unmanned aerial vehicle as position information;
step 3.2: the unmanned aerial vehicle flight control system performs closed-loop control on the position of the unmanned aerial vehicle, controls the unmanned aerial vehicle to fly towards the direction of reducing the relative distance between the unmanned aerial vehicle and the supplied ship, and keeps the linear distance between the unmanned aerial vehicle and the supplied ship to be greater than 10 meters so as to prevent the unmanned aerial vehicle from colliding with the supplied ship;
step 3.3: the unmanned aerial vehicle achieves the technical goal of taking off from the supply ship and carrying supply materials to fly to the supplied ship independently.
3. The ship replenishment method based on the Beidou relative positioning and unmanned aerial vehicle control technology as claimed in claim 1, wherein: in the step 5, the method that the unmanned aerial vehicle (4) flies back to the supply ship (1) from the supply ship (6) and stops in the supply area on the supply ship (1), and the crew on the supply ship (1) carries supply materials for the unmanned aerial vehicle (4) again specifically comprises the following steps:
step 5.1: the unmanned aerial vehicle flight control system performs position closed-loop control on the unmanned aerial vehicle by combining position information obtained by the Beidou relative positioning technology, and at a certain moment, east-direction coordinates and north-direction coordinates of a baseline vector under a local horizontal coordinate system are zero at the same time, namely the unmanned aerial vehicle flies right above a supplied carrier;
step 5.2: the unmanned aerial vehicle hovers temporarily above the supplied warship and then slowly falls into a supplied area;
step 5.3: and after the unmanned aerial vehicle is completely parked, the crew on the ship to be supplied receives the supply materials.
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| CN110979568A (en) * | 2019-11-22 | 2020-04-10 | 上海海事大学 | Offshore material supply method |
| CN111038734B (en) * | 2019-12-27 | 2023-04-18 | 扬州大学 | Intelligent aviation restoration and supply system based on 3D printing |
| CN112198845B (en) * | 2020-09-03 | 2022-03-22 | 深圳市云洲创新科技有限公司 | Offshore service prevention system |
| CN113148157A (en) * | 2021-04-16 | 2021-07-23 | 北京仓告科技有限公司 | Remote supply system based on aircraft |
| CN117761638B (en) * | 2023-03-08 | 2024-05-03 | 北京航空航天大学 | Carrier guidance radar calibration evaluation method based on time synchronization relation |
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