CN104267736B - Autonomous control method and device of sailing ship and sailing ship - Google Patents
Autonomous control method and device of sailing ship and sailing ship Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses an autonomous control method and device of a sailing ship and the sailing ship. The method includes the steps of setting at least one waypoint; acquiring navigation information of the sailing ship and setting the next waypoint from the position where the sailing ship is located as a target waypoint; determining an expected course vector according to the relative azimuth of the sailing ship and the target waypoint and the true wind direction; controlling the sail state of the sailing ship according to relative wind direction information; controlling the rudder angle according to the current course of the sailing ship and the expected course vector so as to reach or track the expected course; judging whether the sailing ship has reached the target waypoint or not, judging whether the target waypoint is a navigation terminal point if the sailing ship has reached the target waypoint, and ending the process if the target waypoint is the navigation terminal point. According to the autonomous control method and device of the sailing ship and the sailing ship, the complete control method for autonomous navigation of the sailing ship is provided for the autonomous navigation process of the sailing ship, and autonomous control over the sailing ship is systematically achieved through division of a course area, calculation of the expected course vector, control over the rudder angle, control over the unfolding area and the adjustment angle of a sail, assisted propelling of a propeller and the like.
Description
Technical field
The present invention relates to unmanned sailing boat field, more particularly to a kind of sailing boat autonomous control method, device and sailing boat.
Background technology
In prior art, unmanned sailing boat is the newest product of robot technology and yachtsmanship cross development.Unmanned sailing boat
It is, using wind-force as thrust power, the tasks such as guard patrol, scientific investigation, environment measuring can at sea to be carried out for a long time,
Can avoid the mankind long-time operation at sea when, can be potentially encountered it is safe, supply the problems such as.
It is well known that sailing boat rides the sea needing in the face of various complex situations.But in the prior art, for including
Sailing boat is concentrated mainly in interior unmanned autonomous navigation technology and carries out autonomous control to sail.
The Heading control of large transport ship is only applicable to as the control method of auxiliary navigation tool using sail, due to large-scale
Cargo ship and the structure of skiff have larger different, and operation principle and manipulating principle also have larger difference；Therefore, greatly
The control program that type sailing boat is adopted can not well be applied to skiff；On the other hand, only using sail as auxiliary boat
Row instrument, can not realize the autonomous control to hull.
And, by the analysis to existing technological achievements and relevant technical literature, the research and development of existing unmanned sailing boat
Achievement primarily focuses on the realization of sailing boat automatic control system hardware, also without a kind of entirety being applied in sail autonomous driving
The control method of property, during the navigation of sailing boat, it is impossible to realize the control of the generation to navigation path, sail state well
The control actions such as system, the control of rudder angle.
The content of the invention
Present invention is primarily targeted at providing a kind of sailing boat autonomous control method, device and sailing boat, it is intended to systematically real
The automatically generating of existing sailing boat navigation path, the automatically controlling of sail state, the automatic control function of rudder angle, improve autonomous manipulation
Property.
To achieve these objectives, the present invention proposes a kind of sailing boat autonomous control method, comprises the following steps：
At least one way point is set in navigation path；
Target waypoint determines step：The sail information of sailing boat is obtained, next way point of sailing boat position is arranged
For target waypoint；
Desired course determines step：Determined according to the direction of the relative bearing and true wind of sailing boat and target waypoint
Desired course vector；
Rate-determining steps：The sail state of sailing boat is controlled according to relative wind direction information；According to the current course of sailing boat and expectation
Course vector, control the rudder angle of sailing boat reaching or track desired course；
Judge step：Judge whether sailing boat reaches target waypoint；If not reaching, return desired course and determine step；
If reaching, determine whether whether target waypoint is navigation terminal point；If it is not, then returning target waypoint determines step
Suddenly；If it is, terminating flow process.
Preferably, desired course determines that step includes：
Obtain the information of true wind；
According to the wind direction information of true wind, course district is divided centered on sailing boat, course district at least includes downwind district, windward
Unnavigability area, sidewind district；
According to target waypoint and the relative position of sailing boat, relative bearing of the target waypoint relative to sailing boat is calculated；
Course district according to residing for relative bearing determines target waypoint；Course district according to residing for target waypoint is obtained
Take desired course vector.
Preferably, obtaining the information of true wind includes：
Wind speed information and wind direction information of the acquisition relative to the relative wind of sailing boat hull；
Vector operation is carried out to the wind direction information of navigational speed information, course information, the wind speed information of relative wind and relative wind,
The wind speed information and wind direction information of the true wind relative to bank are obtained according to the result of Vector operation.
Preferably, according to the current course of sailing boat and desired course vector, control sailing boat rudder angle with reach or with
Track desired course includes：
By the actual heading of the deflection control sailing boat of rudder；
The actual heading of sailing boat is set to reach or track desired course by controlling rudder angle.
Preferably, the sail state for controlling sailing boat according to relative wind direction information includes：
According to the wind direction information of relative wind, sail adjustment angle is controlled.
Preferably, rate-determining steps also include：
The attitude angle of sailing boat is obtained, wherein, attitude angle includes course angle, the angle of pitch and roll angle；
When the angle of pitch is more than the first preset danger value or when roll angle is more than the second preset danger value, sailing boat is sent
The distress signal tumbled, and terminate navigation.
The invention allows for a kind of sailing boat automatic control device, the device includes：
Way point setup module, for arranging at least one way point in navigation path；
Target waypoint determining module, for obtaining the sail information of sailing boat, by next way point of sailing boat position
It is set to target waypoint；
Desired course determining module, for according to the direction of the relative bearing of sailing boat and target waypoint and true wind
Determine desired course vector；
Control module, for controlling the sail state of sailing boat according to relative wind direction information；According to the current course of sailing boat with
Desired course vector, controls the rudder angle of sailing boat to reach or track desired course；
Judge module, including the first judging unit and the second judging unit, wherein,
First judging unit is used to judge whether sailing boat reaches target waypoint；If not reaching, desired course is returned true
Determine step, if reaching, notify the second judging unit；
Second judging unit is used to judge whether target waypoint is navigation terminal point；If it is not, then returning target course
Point determines step, if it is, terminating.
Preferably, desired course determining module includes：True wind information acquiring unit, course district division unit, contra
Parallactic angle determining unit and course district determining unit, wherein,
True wind information acquiring unit is used to obtain the information of true wind；
Course district division unit is used for the wind direction information according to true wind, and course district, course district are divided centered on sailing boat
At least include downwind district, upwind unnavigable district, sidewind district；
Relative azimuth angle determining unit is used for the relative position according to target waypoint and sailing boat, calculates target waypoint phase
For the relative bearing of sailing boat；
Course district determining unit is used for the course district according to residing for relative bearing determines target waypoint.
Preferably, true wind information acquiring unit is additionally operable to,
Wind speed information and wind direction information of the acquisition relative to the relative wind of sailing boat hull；
Vector operation is carried out to the wind direction information of navigational speed information, course information, the wind speed information of relative wind and relative wind,
The wind speed information and wind direction information of the true wind relative to bank are obtained according to the result of Vector operation；
Control module includes the first actual navigation control unit and the second actual navigation control unit, wherein,
First actual navigation control unit is used for the actual heading of the deflection control sailing boat by rudder；
Second actual navigation control unit is used to reach the actual heading of sailing boat by control rudder angle or tracks expectation
Course.
Control module also includes sail adjustment angle control unit, for according to the wind direction information of relative wind, control sail to be adjusted
Whole angle.
Control module also includes attitude angle acquiring unit and distress signal processing unit, wherein,
Attitude angle acquiring unit is used to obtain the attitude angle of sailing boat, wherein, attitude angle includes course angle, the angle of pitch
And roll angle；
Distress signal processing unit is used for when the angle of pitch is more than the first preset danger value or when roll angle is more than second
During preset danger value, the distress signal that sailing boat is tumbled is sent, and terminate navigation.
The invention allows for a kind of sailing boat, including hull, sail, rudder, driving means and propulsion plant, the sailing boat is also wrapped
Include above-mentioned sailing boat automatic control device.
Implement the sailing boat autonomous control method of the present invention, during the autonomous navigation of sailing boat, by drawing to course district
Point, the calculating of desired course vector, there is provided the control method of the sailing boat autonomous navigation of a set of globality, systematically realize sailing boat navigate
The automatically generating of walking along the street footpath, the automatically controlling of sail state, the automatic control function of rudder angle, improve autonomous maneuverability.
Meanwhile, implement the sailing boat automatic control device of the present invention, by the control of rudder angle, sail open area and adjusting angle
Control, angle of rake auxiliary pushing, and the Inertial Measurement Unit of sailing boat provides appearance of the hull in global inertial coodinate system
State information, including course angle, the angle of pitch and roll angle, by global positioning system Jing, Position Latitude data, the boat of sailing boat are obtained
Speed and course information, by wind sensor the wind speed and direction of the relative wind relative to hull is provided, and by controller wind sensing is received
The signal of device, according to the autonomous control algorithm of sailing boat, calculates the controlled quentity controlled variable of rudder and sail, and performs corresponding control action, is
Realize the autonomous unmanned navigation of sailing boat system.
Description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the flow chart of the sailing boat autonomous control method that the present invention is provided；
Fig. 2 is the flow chart of the sailing boat autonomous control method that present pre-ferred embodiments are provided；
Fig. 3 is the refined flow chart of the Solid rocket engine of sailing boat autonomous control method of the present invention；
The refined flow chart that the desired course vector of Fig. 4 sailing boat autonomous control methods of the present invention is calculated；
Fig. 5 is the structured flowchart of the sailing boat automatic control device that present pre-ferred embodiments are provided；
Fig. 6 is a kind of hardware structure diagram of sailing boat that the present invention is provided；
Fig. 7 be sailing boat autonomous control method of the present invention impact point residing for cruising ground when relative bearing schematic diagram；
Fig. 8 is the ship base plane coordinate system schematic diagram of sailing boat autonomous control method of the present invention；
Fig. 9 is the vector correlation schematic diagram of the wind of sailing boat autonomous control method of the present invention；
Figure 10 is the demarcation schematic diagram of the wind sensor of sailing boat autonomous control method of the present invention.
Specific embodiment
Embodiment one
It is as shown in Figure 1 the flow chart of the sailing boat autonomous control method that present pre-ferred embodiments are provided.The method includes
Following steps：
S1, at least one way point is set in navigation path.Wherein, last way point is the navigation end of sailing boat
Point.
Specifically, by system or the user of service of unmanned sailing boat, determine in the range of air route several way points and according to
Secondary numbering, sets gradually way point M1, way point M2 ... way point Mn, wherein, way point M1 is first way point, way point
Mn is last way point, as navigation terminal point.The position of way point is described by longitude and latitude value.
S2, target waypoint determine step：The sail information of sailing boat is obtained, next way point of sailing boat position is set
It is set to target waypoint.
Specifically, start to be set to current target point from first way point；Sailing boat once reaches current target point, then arrange
Next way point is current target point, until last way point.When sailing boat departs, way point M1 is set to into target boat
Waypoint；Then, when sail navigation is to way point M1, target waypoint is replaced by into way point M2；According to this by follow-up air route
Point is set gradually as target waypoint, until way point Mn is set to into target waypoint.
S3, desired course determine step：It is true according to the direction of the relative bearing and true wind of sailing boat and target waypoint
Fixed desired course vector.
First, course district is divided centered on sailing boat, the relative bearing of target waypoint and sailing boat is calculated, and according to relative
Orientation determines the course district residing for target waypoint.In this step：
The division of a, course district：According to wind direction information, 360 degree of directions centered on sailing boat are divided at least include it is suitable
Wind area, upwind unnavigable district, the course district of sidewind district.In the present embodiment, four courses will be divided into centered on sailing boat
Area, specially upwind unnavigable district I, right sidewind district II, left sidewind district III, downwind district IV.Wherein, upwind unnavigable district I
It is the angular regions of each 45 degree of positive contrary wind left and right, sailing boat cannot be navigated by water in the region.Downwind district IV is for just with the wind left and right is each 30 degree
Angular regions；In view of efficiency of navigation is relatively low in downwind district IV and less stable, downwind district IV is regarded in the present invention
The angular regions that work should not be navigated by water.Two pieces of angular regions between upwind unnavigable district I and downwind district IV are respectively right sides
Wind area II and left sidewind district III；Sailing boat windward when, right side ship side institute to for right sidewind district II, left side ship side to for left side wind
Area III；Right sidewind district II and left sidewind district III are navigable angular regions；Sailing boat will be in right sidewind district II and left sidewind district
Navigation in two angular regions of III, is close to and reaches current target point.
B, the relative bearing for calculating current target point and sailing boat, and the boat according to residing for relative bearing determines current target point
To area.By current target point and the relative position relation of sailing boat, relative bearing of the current target point relative to sailing boat is calculated, by
Relative bearing determines the course district residing for current target point.Because circumferential 360 degree of sailing boat has been divided into four course districts, when
The relative bearing of front impact point is necessarily included by the angular range of a certain course district, then it is assumed that current target point belongs to the course
Area.
C, the course district according to residing for current target point obtain desired course vector, the current course of com-parison and analysis sailing boat
With desired course vector, the controlled quentity controlled variable to rudder is obtained.
Wherein, desired course vector is obtained specifically：
When current target point belongs to right sidewind district II or left sidewind district III, current mesh is pointed to by the current location of sailing boat
The unit vector of punctuate is desired course vector.That is, current target point belongs to right sidewind district II or left sidewind district
During III, sailing boat can be navigated by water directly towards the direction of current target point.
When current target point is in upwind unnavigable district I, in order to avoid this angular regions, sailing boat is needed to realize tacking
Traveling, with " Z " font navigation path current target point is reached.In upwind unnavigable district I and the boundary angle of right sidewind district II
Place setting right side patch wind direction amount VII_I, pastes on the left of setting at the boundary angle of upwind unnavigable district I and left sidewind district III
Wind direction amount VIII_I, wherein right side patch wind direction amount VII_I and left side patch wind direction amount VIII_I are all unit vector.In order to realize sail
Tacking for ship, needs alternately right side to be pasted into wind direction amount VII_I and left side patch wind direction amount VIII_I is set as desired course
Vector.When current target point is in downwind district IV, in order to improve efficiency of navigation and stability, sailing boat is needed to avoid downwind district boat
OK, current target point is reached with " Z " font navigation path.On the right side of setting at the boundary angle of downwind district Ι V and right sidewind district II
Downwind vector VII_IV, downwind vector VIII_IV on the left of setting at the boundary angle of downwind district Ι V and left sidewind district III, its
Middle right side downwind vector VII_IV and left side downwind vector VIII_IV are all unit vector.Alternately by right side downwind vector
VII_IV and left side downwind vector VIII_IV are set as desired course vector, during realizing that current target point is in downwind district IV
" Z " font navigation.
The current course of com-parison and analysis sailing boat and desired course vector, and the controlled quentity controlled variable to rudder is obtained as follows：
The deflection of rudder can control the actual heading of sailing boat, by control rudder angle reach the actual heading of sailing boat or with
Track desired course.If it is desire to course is on the right side of actual heading, then rudder angle is deflected to the right；If it is desire to course is in actual heading
Left side, then rudder angle deflect to the left.
Finally, the course district according to residing for target waypoint obtains desired course vector.
S4, rate-determining steps：The sail state of sailing boat is controlled according to relative wind direction information；According to the current course of sailing boat and phase
The course vector of prestige, controls the rudder angle of sailing boat to reach or track desired course.
S5, judge step：Judge whether sailing boat reaches target waypoint；If not reaching, return desired course and determine step
Suddenly；If reaching, determine whether whether target waypoint is navigation terminal point；If it is not, then it is true to return target waypoint
Determine step；If it is, terminating flow process.
In above-mentioned judgement step, judge whether the target waypoint for reaching every time is last way point, if so, then
Judge to reach above-mentioned navigation terminal point.As above described in example, during sail navigation, wherein any one way point can be set to
Navigation terminal point, or, when sailing boat needs to navigate by water over long distances, in order to meet the demands such as sailing boat maintenance, task process, in above-mentioned boat
Multiple navigation holding points are chosen in waypoint, therefore, according to the demand, the present embodiment can adaptively by one or more Mn (n
For arbitrary value) way point is set to navigate by water holding point or navigation terminal point.
The beneficial effect of the present embodiment is, during the autonomous navigation of sailing boat, by the division to course district, expects
The calculating of course vector, there is provided the control method of the sailing boat autonomous navigation of a set of globality, systematically realizes sailing boat navigation path
Automatically generate, the automatically controlling of sail state, the automatic control function of rudder angle.See on the whole, on the one hand, improve sailing boat
The controllability and accuracy of autonomous control, on the other hand, flight course planning adaptivity is higher.
Embodiment two
On the basis of above-described embodiment, as shown in Figure 2 the step of S201, obtained by the built-in global positioning module of sailing boat
Take the longitude information and latitude information of sailing boat, meanwhile, according to above-mentioned longitude information and above-mentioned latitude information calculate sailing boat with it is above-mentioned
The distance between target waypoint, when above-mentioned distance is less than predetermined threshold value, then confirms that sailing boat reaches above-mentioned target waypoint.
For example, above-mentioned threshold value is set to into 200 meters, is obtained in real time by global positioning module and (be can be understood as by pre-
If the cycle obtains) longitude information of sailing boat and latitude information, sailing boat current location is calculated, meanwhile, adjust in the pre-stored data of backstage
The position at current goal way point place is taken, both are compared in same referential, judge reality between the two
Whether border distance is less than 200 meters, if being less than 200 meters, then it is assumed that reached above-mentioned target waypoint.
Further, when the target waypoint for reaching is navigation terminal point, if the setting of above-mentioned threshold value is in larger distance, together
When, when judgement obtains above-mentioned actual pitch between the two farther out, then need further to be accurately positioned, navigation is allowed to standard
True navigation terminal point.
The beneficial effect of the present embodiment is to be positioned by global pick device, and positioning result is pre- with backstage
Deposit data is compared analysis, judges whether sailing boat has reached above-mentioned target waypoint according to comparative analysis result.Manipulation instruction
Succinctly, clearly, the accuracy of data results is high.
Further, from existing navigation general knowledge, during sail navigation, when the lateral drift amount of sailing boat is more than
During certain value, the sail information for obtaining sailing boat using global positioning module is more accurate.But, when the lateral drift amount of sailing boat it is little
When certain value, due to lateral drift amount it is less, now, the sail information and not accurate enough obtained by global positioning module.
Therefore, if in the case of the lateral drift amount of sailing boat is less, if still obtaining sailing boat using global positioning module
Sail information, the then sail information for being likely to result in sailing boat obtains not accurate enough defect.
The present embodiment is to preset a sailing boat lateral drift value for the settling mode that the problems referred to above are proposed.When sailing boat
When lateral drift amount is more than the default lateral shift value, the sail information of sailing boat is obtained using above-mentioned global positioning module,
When sailing boat lateral drift amount is less than the default lateral shift value, obtain above-mentioned by the built-in inertia measuring module of sailing boat
Sail information.
It is appreciated that the beneficial effect of the present embodiment is, by global positioning module in combination with inertia measuring module
Mode obtain sail information, it is to avoid when long-time is using inertia measuring module, the accumulated error brought is larger to be lacked
Fall into.
Further, as shown in Figure 2 the step of S202, by above-mentioned inertia measuring module by predetermined period obtain sailing boat ship
The angle of pitch numerical value and roll angle numerical value of body.
Inertia measuring module is appreciated that the sensor for including measurement of correlation function, by related sensor by pre-
If the angle of pitch numerical value and roll angle numerical value of cycle (for example, sensing once for each second) sensing sailing boat hull.
From existing navigation general knowledge, when the angle of pitch numerical value of sailing boat hull is more than certain value, sailing boat has what is tumbled
Danger, on the other hand, when the roll angle numerical value of sailing boat hull is more than certain value, sailing boat also has the danger tumbled.
Therefore, the technical scheme that the present embodiment solution above-mentioned technical problem is adopted is, during the navigation of sailing boat, pin
First preset danger value is arranged to the angle of pitch of sailing boat hull, and the roll angle for sailing boat hull arranges the second default danger
Value.
During sail navigation, the angle of pitch numerical value and roll angle numerical value of sailing boat hull is periodically sensed.Work as sail
When the angle of pitch numerical value of ship hull exceedes above-mentioned first preset danger value, then assert that sailing boat is in rollover conditions；Work as sailing boat hull
Roll angle numerical value exceed above-mentioned second preset danger value, then assert sailing boat be in rollover conditions.
Further, if Jing judges to show that sailing boat, in rollover conditions, sends an SOS, and navigation is terminated.
The beneficial effect of the present embodiment is, during sailing boat autonomous navigation, the parameter of sailing boat hull is obtained in real time,
And judge whether hull tumbles according to parameter, in order to tumble or during critical rollover conditions in hull, can send in time
Distress signal or early warning signal.
Further, as shown in Figure 2 the step of S206, during sailing boat autonomous navigation, according to above-mentioned roll angle number
Value calculates the open area of sail.
Specific embodiment is as described below：
First, one end of sail is sleeved on mast, the other end is then pulled by sail rope；
Situation one：Sail can completely on mast, and now sail does not receive wind action；
Situation two：Sail can open completely, and the sail area of now wind-engaging effect is maximum；
Situation three：Can also allow sail portions on mast and partly open, now sail portions area is subject to wind
Effect.
Then, the wind area of sail is adjusted according to result of calculation.It is appreciated that in identical wind speed, wind direction, adjusting angle
When, the size of sail wind area determines that sailing boat obtains the roll power that the size and sailing boat of the propulsive force of wind is subject to wind
The size of square, i.e. sail wind area is bigger, the propulsive force that sailing boat obtains wind is bigger, meanwhile, sailing boat is subject to the rolling moment of wind
Also it is bigger.Wherein, rolling moment determines the roll angle of sailing boat, i.e. rolling moment is bigger, and the roll angle of sailing boat is bigger.
(during the safe range can be above-described embodiment, by second danger is preset in safe range in sailing boat roll angle
The danger safe range that limited of value, i.e. what the roll angle numerical value of sailing boat was less than the second preset danger value can span), sail
Open area it is larger when, it is possible to obtain larger propulsive force, but be unlikely to so that the danger tumbled of sailing boat.
In the scenario above, the sail size during sailing boat autonomous navigation is adjusted as follows：
For example, the size of sail represents that the mathematic(al) representation of sail size Control can be expressed as with S_sail：
S_sail=f (| ∠ Roll |) ∈ [0,1] S_full
Wherein ∠ Roll be sailing boat roll angle, and ∠ Roll ∈ [﹣ R_max, R_max], R_max be sailing boat normal/cruise when
The maximum safe roll angle of permission, it will be understood that maximum safe roll angle described herein refers to critical in above-described embodiment
The second preset danger value, or, the maximum safe roll allowed when the second preset danger value is defined as into sailing boat normal/cruise
Angle value.
In above-mentioned expression formula, S_full is maximum sail area when sail is fully open；F () is monotonous descending function,
When sailing boat roll angle is larger, sail open area is less, and sailing boat roll angle it is less when, sail open area is larger.
The beneficial effect of the present embodiment is, during sailing boat autonomous navigation, by adjusting sail and sail
Wind area, so that sailing boat obtains larger propulsive force.Meanwhile, sailing boat is calculated and adjusted by above-mentioned mathematic(al) representation certainly
Sail size during main navigation, so that sailing boat is during autonomous navigation, it is ensured that while safe navigation, obtains most
Excellent sail open area, realizes the control accurate to sail open area.
Further, as shown in Figure 2 the step of S207, step S208, step S209 and step S210, above-mentioned steps
S207-S210 is directed to the dividing mode of course district during sailing boat autonomous navigation, it is proposed that technical scheme below：
A. course district is divided according to the wind direction information of above-mentioned true wind.
B. according to current goal way point and the relative position relation of sailing boat, current goal way point is calculated relative to sailing boat
Relative bearing.
C. the course district according to residing for above-mentioned relative bearing determines current goal way point.
Specific embodiment is as described below：
360 degree of directions of circumference centered on sailing boat are divided into four course districts by the true wind direction according to obtained by calculating,
It is respectively upwind unnavigable district I, right sidewind district II, left sidewind district III, downwind district IV.
Wherein, upwind unnavigable district I is the angular regions of each 45 degree of positive contrary wind left and right, and sailing boat is without Air France in the region
OK.
Downwind district IV is just angular regions of each 30 degree of left and right with the wind.
In view of efficiency of navigation is relatively low in downwind district IV and less stable, downwind district IV is considered in the present invention not
The angular regions preferably navigated by water.
Two pieces of angular regions between upwind unnavigable district I and downwind district IV are respectively right sidewind district II and left side wind
Area III.
Wherein, when sailing boat windward when, right side ship side institute to for right sidewind district II, left side ship side to for left sidewind district III.
Right sidewind district II and left sidewind district III are navigable angular regions.
Sailing boat will be navigated by water in two angular regions of right sidewind district II and left sidewind district III, be close to and reach current goal
Point.
Further, as shown in Figure 2 the step of S210, as follows determine current target point residing for course district：
By current target point and the relative position relation of sailing boat, relative bearing of the current target point relative to sailing boat is calculated
∠TB, the course district by residing for relative bearing determines current target point.Meanwhile, refer to the vector correlation schematic diagram of Fig. 8 wind.
Specifically, in the present embodiment, if (∠ TB﹣ ∠ WS) [0, π/4) ∪ (7 π/4,2 π), then impact point is in windward for ∈
Unnavigability area I, is expressed as T ∈ I；
If (∠ TB﹣ ∠ WS) ∈ [π/4,5 π/6], then impact point be in right sidewind district II, be expressed as T ∈ II；
If (∠ TB﹣ ∠ WS) ∈ [7 π/6,7 π/4], then impact point be in left sidewind district III, be expressed as T ∈ III；
If (∠ TB﹣ ∠ WS) ∈ (5 π/6,7 π/6), then impact point is in downwind district IV, is expressed as T ∈ IV；Because sailing boat
Circumferential 360 degree have been divided into four course districts, and the relative bearing of current target point is inevitable by the angle model of a certain course district
Enclose and include, then it is assumed that current target point belongs to the course district.
The beneficial effect of the present embodiment is to be worked as relative to the relative bearing determination of sailing boat by calculating current target point
Course district residing for front impact point, realizes the accurate division during sailing boat autonomous navigation, to course district.
Further, as shown in Figure 2 the step of S211, step S212 and step S213, above-mentioned steps S211-S213 pin
During for sailing boat autonomous navigation, it is determined that expecting navigation vector, above-mentioned expectation navigation vector, and regulation and control sail adjustment are tracked
The specific embodiment at angle, it is proposed that technical scheme below：
A, according to above-mentioned course district and current goal way point desired course vector is determined.
B, by controlling rudder angle so that the actual heading of sailing boat reaches or track above-mentioned desired course.
C, according to the wind direction information of above-mentioned relative wind, controls sail adjustment angle.
Wherein, desired course vector is determined as follows：
When current target point belongs to right sidewind district II or left sidewind district III, current mesh is pointed to by the current location of sailing boat
The unit vector of punctuate is desired course vector.
It is appreciated that when current target point belongs to right sidewind district II or left sidewind district III, sailing boat can be directly towards working as
The direction navigation of front impact point.
Further, when current target point is in upwind unnavigable district I, in order to avoid this angular regions, control is needed
Sailing boat processed, realizes tacking, and for example, when current target point is in upwind unnavigable district I, first, control sailing boat sails the right side into
Sidewind district II or left sidewind district III, then, when sailing boat is in again in right sidewind district II or left sidewind district III, continue
Non- upwind unnavigable district I is selected to travel, repetition is travelled in a manner described, so that sailing boat is with the arrival of " Z " font navigation path
Current target point.
Further, wind direction amount is pasted on the right side of setting at the boundary angle of upwind unnavigable district I and right sidewind district II
VII_I, it will be understood that when sailing boat is travelled according to right side patch wind direction amount VII_I of above-mentioned setting, in the most short bar of navigation route
Under part, it is to avoid sailing boat sails upwind unnavigable district I into, so that the optimization of flight course planning.
In the same manner, wind direction amount VIII_ is pasted on the left of setting at the boundary angle of upwind unnavigable district I and left sidewind district III
I, wherein right side patch wind direction amount VII_I and left side patch wind direction amount VIII_I are all unit vector.
Further, in order to realize tacking for sailing boat, need alternately right side to be pasted into wind direction amount VII_I and left side patch
Wind direction amount VIII_I is set as desired course vector.
Further, when current target point is in downwind district IV, in order to improve efficiency of navigation and stability, sailing boat is needed to keep away
Downwind district navigation is opened, current target point is reached with " Z " font navigation path.
Further, downwind vector VII_IV on the right side of setting at the boundary angle of downwind district IV and right sidewind district II,
Left side downwind vector VIII_IV is set at downwind district IV and the boundary angle of left sidewind district III, wherein right side downwind vector VII_
IV and left side downwind vector VIII_IV are all unit vector.
Further, alternately by right side downwind vector VII_IV and left side downwind vector VIII_IV be set as expect boat
To vector, to realize " Z " font navigation when current target point is in downwind district IV.
In the present embodiment, after above-mentioned expectation navigation vector is determined, then by the deflection angle of control flaps, with track by
The desired course that above-mentioned expectation navigation vector determines.Specific embodiment is as described below：
It is possible, firstly, to be understood by, during the autonomous navigation of sailing boat, the deflection of rudder can control the actual boat of sailing boat
To, by control rudder angle make the actual heading of sailing boat reach or track desired course.
Situation one：If it is desire to course is on the right side of actual heading, then rudder angle is deflected to the right；
Situation two：If it is desire to course is in the left side of actual heading, then rudder angle is deflected to the left.
In the present embodiment, if the angle between the actual heading vector of desired course vector and sailing boat is expressed as ∠
Heading, its span [0,2 π)；
Rudder angle is expressed as δ, and rudder angle δ is switched to just with astarboard lateral deviation, and aport lateral deviation switchs to bear.
It is therefore possible to use simplest proportional controlling means, course angle ∠ Heading are mapped on rudder angle δ, number
Be described as：
When ∠ Heading ∈ [0, π], δ=Kp ∠ Heading
As ∠ Heading ∈ (π, 2 π), δ=﹣ Kp | π of ∠ Heading ﹣ 2 |
Wherein Kp is proportionality coefficient.
Further, other existing control methods, for example, PD control, PID can also be adopted the step for rudder angle control
The classics control method such as control, fuzzy control, ANN Control, it should be appreciated that the controlling party such as above-mentioned PD control is owned by France
In prior art means, it is not discussed in detail here.
After rudder angle δ is calculated by above-mentioned mathematic(al) representation, rotated by the driving and control system control rudder for ship of sailing boat
To δ angles, to complete the control to sailing boat rudder angle.
In the present embodiment, after sailing boat completes the control to rudder angle according to above-mentioned steps, then by according to the wind of relative wind
To control sail adjustment angle.Specific embodiment is as described below：
It is possible, firstly, to be understood by, driving and the control system of sailing boat can not directly control sail adjustment angle θ, drive
Need first to loosen the sail rope for being connected to sail end with control system, sail can just be blown to a side under wind action,
Now sail and sailing boat center line face institute angle degree are sail adjustment angle θ.
Therefore, the relation of the elastic and sail adjustment angle of sail is as described below：
Sail is put more loose, and sail adjustment angle is bigger；
Sail is drawn tighter, and sail adjustment angle is less.
That is, sail adjustment angle be it is passive depend on wind blow what is formed, the constrained length that rope is controlled in sail
Degree, so length L_rope that sail rope is directly controlled with control system is driven, with indirect control sail adjustment angle θ.
Further, sail adjustment angle affects the propulsive efficiency of sail, it is however generally that, sail adjustment angle is controlled to into phase
Wind direction ∠ W to windBHalf or so (as shown in Figure 6), mathematic(al) representation is
θ=∠ WB/2
Wherein, the expression formula of length L_rope of the sail rope that driving is directly controlled with control system is
L_rope=Ku ∠ WB
Wherein Ku is proportionality coefficient.
From above-mentioned embodiment, sail control angle is calculated by above-mentioned mathematic(al) representation, meanwhile, by calculating
The length of sail rope is drawn, directly the adjustment to sail control angle is realized by adjusting the length of sail rope.
Further, according to above-described embodiment, during the autonomous navigation of sailing boat, circulation is carried out by wind and impact point
Orientation determines that course district is operated with the angle of desired course, control flaps to track desired course, adjustment sail adjustment angle etc., until
Reach navigation terminal point.
It is appreciated that implement the sailing boat autonomous control method of the present invention, during the autonomous navigation of sailing boat, by course
The control of the division in area, the calculating of desired course vector, the control of rudder angle, sail open area and adjusting angle, systematically completes
Course, autonomous control rudder and sail are automatically generated, it is achieved thereby that the autonomous control of sailing boat.
Embodiment three
Fig. 3 is the refined flow chart of the Solid rocket engine of sailing boat autonomous control method of the present invention.
During sailing boat autonomous navigation, if it is determined that the sailing boat speed of a ship or plane is excessively slow, then start propeller and do auxiliary pushing.For
Avoid propeller from continually opening and stop, as follows further refinement can be made to the step：
First, it is determined that whether propeller is currently currently running.
If above-mentioned steps judge propeller currently without operation, whether continuation judges the speed of a ship or plane less than setting threshold values
Vmin。
If above-mentioned steps judge that the speed of a ship or plane is set up less than Vmin, auxiliary pushing is done in propeller operation.
If above-mentioned steps judge that the speed of a ship or plane is false less than Vmin, propeller still stops.
If above-mentioned steps judge that propeller is currently running, whether continuation judges the speed of a ship or plane more than setting threshold values
Vmax。
If above-mentioned steps judge that the speed of a ship or plane is set up more than Vmax, propeller is out of service.
If above-mentioned steps judge that the speed of a ship or plane is false more than Vmax, propeller is continued to run with.
Wherein, Vmin, Vmax are respectively the speed of a ship or plane threshold values for rule of thumb setting, and need to meet inequality condition during setting
Vmin<Vmax。
The meaning of above-mentioned steps can be construed to, and when the speed of a ship or plane is less than Vmin, propeller starts；When the speed of a ship or plane is more than Vmax, push away
Enter device stopping；When the speed of a ship or plane is between Vmin and Vmax, propeller maintains current running status or halted state.
Example IV
The refined flow chart that the desired course vector of Fig. 4 sailing boat autonomous control methods of the present invention is calculated.
Based on above-described embodiment, determine that desired course vector can be further refined as following steps：
First, S210, judges the course district residing for current target point.
If current target point is pointed to by the current location of sailing boat and worked as in right sidewind district II or left sidewind district III
The unit vector T of front impact pointBAs desired course vector.(step S2111-S2115)
Vector TBAngle can be expressed as ∠ TB。
If it is determined that obtain current target point in upwind unnavigable district I when, then need to determine as follows new
Desired course vector：
It is determined that right side patch wind direction amount VII_IWind direction amount V is pasted with left sideIII_I。
The wherein angle ∠ V of right side patch wind direction amountII_IIt is to rotate clockwise 45 degree again in positive upwind, the vector
Length is 1；
The wherein angle ∠ V of left side patch wind direction amountIII_IIt is to rotate counterclockwise 45 degree again in positive upwind, the vector
Length is 1.
Step S2112, judges that current desired course vector is right side patch wind direction amount VII_IOr left side patch wind direction amount VIII_I。
So-called current desired course vector is exactly course vector determined by upper algorithm circulation, if current course vector
Neither wind direction amount V is pasted on right sideII_INor left side patch wind direction amount VIII_I, it assumes that current course vector is that wind direction amount is pasted on right side
VII_I.It is appreciated that according to different customs, if current course vector is neither right side patch wind direction amount VII_INor left side
Patch wind direction amount VIII_IWhen, it may also assume that current course vector is that wind direction amount V is pasted in left sideIII_I。
S21121, according to the judgement of above-mentioned steps, if current course vector is right side pastes wind direction amount VII_I, then direction refer to
Mark Vindex is set as 0.
S21123, A, calculating right side patch wind direction amount VII_IDirection multiplier Multi0,
Multi0=1 ﹢ Jfactor | 0 ﹣ Vindex |
Meanwhile, calculate left side patch wind direction amount VIII_IDirection multiplier Multi2,
Multi2=1 ﹢ Jfactor | 2 ﹣ Vindex |
Wherein, Jfactor is the jump rank factor, is the constant according to experience setting, and Vindex is cardinal direction marker.The jump rank factor
Current course is affected to paste wind direction amount V on right sideII_IWind direction amount V is pasted with left sideIII_IBetween mutual switching.
S21125, judges inequality one：
Multi2·|∠VIII_I﹣ ∠ TB|≦Multi0·|∠VII_I﹣ ∠ TB|
Whether set up.Wherein, Multi2 is left side patch wind direction amount VIII_IDirection multiplier, ∠ TBIt is desired course vector TB
Angle.
S21127, if the inequality in above-mentioned steps is set up, new desired course vector is set as left side patch wind direction
Amount VIII_I。
S21128, if the inequality in above-mentioned steps is false, new desired course vector remains as right side patch wind
Vectorial VII_I。
S21122, differentiates according to above-mentioned steps, if current course vector is left side pastes wind direction amount VIII_I, then cardinal direction marker
Vindex is set as 2.
S21124, B, calculating right side patch wind direction amount VII_IDirection multiplier Multi0,
Multi0=1 ﹢ Jfactor | 0 ﹣ Vindex |
Meanwhile, the direction multiplier Multi2 of left side patch wind direction amount VIII_I is calculated,
Multi2=1 ﹢ Jfactor | 2 ﹣ Vindex |
S21126, judges inequality two：
Multi2·|∠VIII_I﹣ ∠ TB|≧Multi0·|∠VII_I﹣ ∠ TB
Whether set up.Wherein, Jfactor is the jump rank factor, is the constant according to experience setting, and Vindex is that direction refers to
Mark, ∠ TBIt is desired course vector TBAngle.
S21128, if the inequality in above-mentioned steps is set up, new desired course vector is set as right side patch wind direction
Amount VII_I。
S21127, if the inequality in above-mentioned steps is false, new desired course vector remains as left side patch wind
Vectorial VIII_I。
When current target point is in upwind unnavigable district I, desired course vector determines according to above step S2111.
During navigation, the unit vector T of current target point is pointed in the current location of sailing boatBCan change at moment, expect
Course vector also can paste wind direction amount V on right sideII_IWind direction amount V is pasted with left sideIII_IBetween regularly switch.
If it is determined that during course district residing for current target point, when judging that current target point is in downwind district IV, then needing
New desired course vector is determined as follows：
S2115, calculates right side downwind vector VII_IVWith left side downwind vector VIII_IV.The angle of downwind vector on the right side of wherein
∠VII_IVIt is to rotate counterclockwise 30 degree (namely positive upwind rotates clockwise again 150 degree) again on positive downwind, should
The length of vector is 1；The wherein angle ∠ V of left side downwind vectorIII_IVIt is to rotate clockwise 30 degree again on positive downwind
(namely positive upwind rotates counterclockwise again 150 degree), the vectorial length is 1.
S2116, judges that current desired course vector is right side downwind vector VII_IVOr left side downwind vector VIII_IV.Such as
The current course vector of fruit is neither right side downwind vector VII_IVNor left side downwind vector VIII_IV, it assumes that current course to
Measure as right side downwind vector VII_IV.It is appreciated that according to different customs, if current course vector is neither right side down wind
Amount VII_IVNor left side downwind vector VIII_IVWhen, it may also assume that current course vector is left side downwind vector VIII_IV。
S21161, according to the judgement of above-mentioned steps, if current course vector is right side downwind vector VII_IV, then direction refer to
Mark Vindex is set as 1.
S21163, A, calculating right side downwind vector VII_IVDirection multiplier Multi1,
Multi1=1 ﹢ Jfactor | 1 ﹣ Vindex |
Wherein, Jfactor is the jump rank factor, is the constant according to experience setting, and Vindex is cardinal direction marker, ∠ TBIt is the phase
Hope course vector TBAngle.
Meanwhile, calculate left side downwind vector VIII_IVDirection multiplier Multi3,
Multi3=1 ﹢ Jfactor | 3 ﹣ Vindex |
S21165, judges inequality three：
Multi3·|∠VIII_IV﹣ ∠ TB|≦Multi1·|∠VII_IV﹣ ∠ TB|
Whether set up.Wherein, Jfactor is the jump rank factor, is the constant according to experience setting, and Vindex is that direction refers to
Mark, ∠ TBIt is desired course vector TBAngle.
S21167, if the inequality in above-mentioned steps is set up, new desired course vector is set as left side down wind
Amount VIII_IV。
S21168, if inequality is false in above-mentioned steps, new desired course vector remains as right side down wind
Amount VII_IV。
S21162, according to the differentiation of above-mentioned steps, if current course vector is left side downwind vector VIII_IV, then direction
Index Vindex is set as 3.
S21164, B, calculating right side downwind vector VII_IVDirection multiplier Multi1,
Multi1=1 ﹢ Jfactor | 1 ﹣ Vindex |
Meanwhile, calculate left side downwind vector VIII_IVDirection multiplier Multi3,
Multi3=1 ﹢ Jfactor | 3 ﹣ Vindex |
S21166, judges inequality four：
Multi3·|∠VIII_IV﹣ ∠ TB|≧Multi1·|∠VII_IV﹣ ∠ TB|
Whether set up.Wherein, Jfactor is the jump rank factor, is the constant according to experience setting, and Vindex is that direction refers to
Mark, ∠ TBIt is desired course vector TBAngle.
S21168, if inequality is set up in above-mentioned steps, new desired course vector is set as right side downwind vector
VII_IV。
S21167, if inequality is false in above-mentioned steps, new desired course vector remains as left side down wind
Amount VIII_IV。
When current target point is in downwind district IV, desired course vector determines according to above step S2115.
It is appreciated that during navigation, the unit vector T of current target point is pointed in the current location of sailing boatBCan the moment
Change, desired course vector also can be in right side downwind vector VII_IVWith left side downwind vector VIII_IVBetween regularly switch, cut
Change rule to be determined by above-mentioned calculating formula.
During autonomous navigation, by above-mentioned algorithm steps, it may be determined that sailing boat current target point is in different courses
Desired course vector during area.
Step S212, after the desired course vector of different course districts is calculated, further according to above-described embodiment to rudder
The control mode at angle, corresponding regulation and control are implemented to rudder angle, so that the desired course vector that actual heading vector tracking determines.
The beneficial effect of the present embodiment is, by above-mentioned detailed algorithm, to determine desired course vector, to realize to expecting
The control accurate of navigation vector.
Embodiment five
Fig. 5 is the structured flowchart of the sailing boat automatic control device that present pre-ferred embodiments are provided.
The device includes：Way point setup module 10, target waypoint determining module 20, desired course determining module 30,
Control module 40 and judge module 50.
First, at least one way point is arranged in navigation path by way point setup module 10；When completing way point
Setting operation after, by target waypoint determining module 20 obtain sailing boat sail information, by the next of sailing boat position
Way point is set to target waypoint.
During sailing boat is navigated by water to target waypoint, navigated according to sailing boat and target by desired course determining module 30
The direction of the relative bearing of waypoint and true wind determines desired course vector.
Then, then by control module 40 sail state of sailing boat is controlled according to relative wind direction information, and worked as according to sailing boat
Front course and desired course vector, control the rudder angle of sailing boat to reach or track desired course.
Finally, judge whether sailing boat reaches navigation terminal point by judge module 50.
Specifically, judge module 50 includes the first judging unit 51 and the second judging unit 52, wherein,
Judge whether sailing boat reaches target waypoint by the first judging unit 51；If not reaching, desired course is returned
Determine step, if reaching, notify the second judging unit；
Then by the second judging unit 52 judge whether target waypoint is navigation terminal point again；If it is not, then returning
Target waypoint determines step, if it is, terminating.
Further, it is desirable to course determining module 30 includes：True wind information acquiring unit 31, course district division unit
32nd, relative azimuth angle determining unit 33 and course district determining unit 34.Specifically, the module completes phase by following control mode
The function of answering：
First, the information of true wind is obtained by true wind information acquiring unit 31；
Then, boat is divided centered on sailing boat according to the wind direction information of the true wind by course district division unit 32
To area；
By relative azimuth angle determining unit 33 according to target waypoint and the relative position of sailing boat, target waypoint is calculated
Relative to the relative bearing of sailing boat；
Finally, the course by course district determining unit 34 according to residing for the relative bearing determines target waypoint
Area.
Further, true wind information acquiring unit 31 is additionally operable to,
Wind speed information and wind direction information of the acquisition relative to the relative wind of sailing boat hull；
Vector operation is carried out to the wind direction information of navigational speed information, course information, the wind speed information of relative wind and relative wind,
The wind speed information and wind direction information of the true wind relative to bank are obtained according to the result of Vector operation.
Further, control module 40 includes the first actual navigation control unit 41 and the second actual navigation control unit
42, wherein,
By the deflection of the control flaps of the first actual navigation control unit 41, to control the actual heading of sailing boat；
Meanwhile, rudder angle is controlled by the second actual navigation control unit 42, the actual heading of sailing boat is reached or is tracked
Desired course.
Further, control module 40 also includes sail adjustment angle control unit 43.Sail adjustment angle control unit 43
According to the wind direction information of the relative wind, sail adjustment angle is controlled.
Further, control module 40 also includes attitude angle acquiring unit 44 and distress signal processing unit 45, tool
Body ground：
The attitude angle of sailing boat is obtained by attitude angle acquiring unit 44, wherein, attitude angle includes course angle, pitching
Angle and roll angle；
By distress signal processing unit 45 when the angle of pitch is more than the first preset danger value or when roll angle is super
When crossing the second preset danger value, the distress signal that sailing boat is tumbled is sent, and terminate navigation.
The beneficial effect that above-mentioned module is brought is, during the autonomous navigation of sailing boat, by drawing to course district
Point, the calculating of desired course vector, there is provided the control method of the sailing boat autonomous navigation of a set of globality, systematically realize sailing boat navigate
The automatically generating of walking along the street footpath, the automatically controlling of sail state, the automatic control function of rudder angle.See on the whole, on the one hand, improve
The controllability and accuracy of sailing boat autonomous control, on the other hand, flight course planning adaptivity is higher.
Embodiment six
A kind of hardware structure diagram of sailing boat of present invention offer is provided.
This sailing boat includes：Hull 1, sail 2, rudder 3, controller 4, propeller 5, inertia measuring module 6, global positioning module
7, wind sensor 8.
Wherein, hull 1, sail 2, rudder 3 constitute the body of sailing boat；Sail 2 is placed in the upper surface of hull 1, and and ship
Body 1 is flexibly connected；Rudder 3 is placed in the tail end of hull 1 and is electrically connected with controller 4；Controller 4 is arranged at the housing of hull 1
It is interior, it will be understood that the space for receiving controller 4 has water-proof function；Propeller 5 is placed in the bottom of hull 1；Inertia is surveyed
Amount module 6 is placed in 1 middle part of hull, it will be understood that the maximum likelihood according to inertia measurement is obtained arranges the peace of the module
Seated position；Global positioning module 7 is placed in the upper surface of hull 1, for receiving satellite-signal；Wind sensor 8 passes through connecting rod
It is fixedly connected with the upper surface of hull 1.It is appreciated that controller 4 respectively with above-mentioned sail 2, rudder 3, propeller 5, inertia measurement
Module 6, global positioning module 7 and wind sensor 8 are electrically connected with.
It is appreciated that the sailing boat automatic control device that above-described embodiment five is provided can be used as the controller 4 of the present embodiment, should
Sailing boat automatic control device presses default functional requirement, sail 2, rudder 3, propeller 5, inertia measuring module 6 to this sailing boat, complete
Ball locating module 7 and wind sensor 8 send corresponding control command, so that it completes corresponding operational motion.
It is trimaran shown in Fig. 6, the hardware system of the present invention is not limited to trimaran, or monomer sailing boat
Or catamaran.
Inertia measuring module 6 provides the attitude information in global inertial coodinate system of hull 1, including course angle, pitching
Angle and roll angle.
Global positioning module 7 obtains Jing, Position Latitude data, the speed of a ship or plane and the course information of sailing boat.
Wind sensor 8 provides the wind speed and direction of the relative wind relative to hull.
Controller 4, receives each sensor signal and each data message, according to the sailing boat autonomous control method, calculates
The controlled quentity controlled variable of rudder 3 and sail 2, and corresponding control action is performed, realize the autonomous unmanned navigation of sailing boat.
In another embodiment, when the sailing boat speed of a ship or plane is excessively slow, propeller 5 makees auxiliary pushing.
Embodiment seven
Fig. 7 be sailing boat autonomous control method of the present invention impact point residing for cruising ground when relative bearing schematic diagram.
Wherein, { S } shown in Fig. 7 a, 7b, 7c is bank base plane coordinate system, and the X-axis of the coordinate system points to positive north, and Y-axis refers to
It is initial axle clockwise for positive angle value with X-axis to due east.Bank base plane coordinate system { S } is fixed world coordinates
System.
Embodiment eight
Fig. 8 is the ship base plane coordinate system schematic diagram of sailing boat autonomous control method of the present invention.
Wherein, { B } is respectively on the hull of monomer sailing boat, catamaran and trimaran shown in Fig. 8 a, Fig. 8 b, Fig. 8 c
Ship base plane coordinate system { B } of foundation.
It is appreciated that in the monomer sailing boat coordinate system shown in Fig. 8 a, the coordinate system is former by its coordinate of the barycenter of hull
Point；Fore and parallel with hull base plane for X-axis is pointed to by barycenter；Point to by barycenter starboard for Y-axis；With X-axis
It is clockwise positive angle value for initial axle.
In the catamaran coordinate system shown in Fig. 8 b, catamaran includes two subhulls with X-axis as symmetric relation.
In the trimaran coordinate system shown in Fig. 8 c, trimaran includes a main hull and two subhulls, its
In, main hull sets up coordinate in the way of the monohull shown in Fig. 8 a, two subhulls in the way of the catamaran shown in Fig. 7,
Two subhulls are set up by symmetric relation of X-axis.
It is appreciated that the coordinate system of above three hull is with the barycenter of hull as its origin of coordinates；By barycenter
Sensing fore is simultaneously parallel with hull base plane for X-axis；Point to by barycenter starboard for Y-axis；It is clockwise as initial axle with X-axis
Direction is positive angle value.Ship base plane coordinate system { B } is the local coordinate system moved together with hull.
Adopt and bank base plane coordinate system { S } and ship base plane coordinate system { B } established with upper type, in order to it is complete
Ball alignment system, wind sensor, Inertial Measurement Unit scaling method it is consistent.
In the present embodiment, also following optimal technical scheme：
As illustrated in figs. 7 and 8, the X-axis of the bank base plane coordinate system used of whole control algolithm points to positive north, and Y-axis is pointed to
Due east, is initial axle clockwise for positive angle value with X-axis.
Ship base plane coordinate system is set up in sailing boat hull, the barycenter of hull is its origin of coordinates；
Fore and parallel with hull base plane for X-axis is pointed to by barycenter；
Point to by barycenter starboard for Y-axis；
It is initial axle clockwise for positive angle value with X-axis.
Adopt and coordinate system is set up with upper type, to ensure and global positioning module 7, wind sensor 8, inertia measuring module 6
Scaling method it is consistent.
Embodiment nine
Fig. 9 is the vector correlation schematic diagram of the wind of sailing boat autonomous control method of the present invention.
Speed of a ship or plane VS, relative wind WB, true wind WSBetween vector correlation as shown in figure 9, vector expression can be write as WS=WB﹢
VS。
Further, because controller 4 can not directly control sail adjustment angle θ, controller 4 needs first to loosen and is connected to
The sail rope of sail end, sail 2 can just be blown to a side under wind action, and now sail 2 is in sailing boat center line face
Angle be sail adjustment angle θ.
As shown in figure 9, sail is put more loose, sail adjustment angle is bigger；Sail is drawn tighter, and sail adjustment angle is got over
It is little.That is, sail adjustment angle be it is passive depend on wind blow what is formed, the constrained length that rope is controlled in sail
Degree, so controller 4 directly controls length L_rope of sail rope, with indirect control sail adjustment angle θ.
Embodiment ten
Figure 10 is the demarcation schematic diagram of the wind sensor of sailing boat autonomous control method of the present invention.
It is the angle calibration mode of wind sensor shown in Figure 10, wind sensor 8 is installed on the center line face of hull 1, hearsay
The X-axis of sensor 8 points to fore, fore front windward when with respect to wind wind direction ∠ WBFor zero degree, with respect to wind direction in a clockwise direction
For just.
The core of control method of the invention whole be the division of course district, the calculating of desired course vector, the control of rudder angle,
Control, the angle of rake auxiliary pushing of sail open area and adjusting angle.Meanwhile, the sailing boat autonomous control method energy root of the present invention
According to the relation between " target, wind, sailing boat " three, course, autonomous control rudder and sail are automatically generated, realize unmanned autonomous navigation.
It is believed that the present invention also enhances autonomous maneuverability and adaptivity in sailing boat autonomous control.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or be converted,
And all these modifications and variations should all belong to the protection domain of claims of the present invention.
Claims (10)
1. a kind of sailing boat autonomous control method, it is characterised in that methods described includes：
At least one way point is set in navigation path；
Target waypoint determines step：The sail information of sailing boat is obtained, next way point of sailing boat position is set to into mesh
Mark way point；
Desired course determines step：According to the direction of the relative bearing and true wind of the sailing boat and the target waypoint
Determine desired course vector, specifically include：
Obtain the information of true wind；
According to the wind direction information of the true wind, divide course district centered on sailing boat, the course district at least include downwind district,
Upwind unnavigable district, sidewind district；
According to the target waypoint and the relative position of sailing boat, relative bearing of the target waypoint relative to sailing boat is calculated
Angle；
Course district according to residing for the relative bearing determines the target waypoint；
Course district according to residing for the target waypoint obtains desired course vector, wherein, at the target waypoint
When sidewind district, the unit vector for pointing to the target waypoint by the current location of sailing boat is desired course vector；Work as institute
State target waypoint in upwind unnavigable district when, need sailing boat realize tack, with " Z " font navigation path reach institute
State target waypoint；When the target waypoint is in downwind district, sailing boat is needed to avoid downwind district navigation, with " Z " font boat
Walking along the street footpath reaches the target waypoint；
Rate-determining steps：The sail state of sailing boat is controlled according to relative wind direction information；According to the current course of sailing boat and the expectation
Course vector, control the rudder angle of sailing boat reaching or track the desired course；
Judge step：Judge whether sailing boat reaches the target waypoint；If not reaching, return the desired course and determine step
Suddenly；If reaching, determine whether whether the target waypoint is navigation terminal point；
If it is not, then returning the target waypoint determines step；If it is, terminating flow process.
2. sailing boat autonomous control method according to claim 1, it is characterised in that the packet of the true wind of the acquisition
Include：
Wind speed information and wind direction information of the acquisition relative to the relative wind of sailing boat hull；
The wind direction information of navigational speed information, course information, the wind speed information of relative wind and relative wind to the sailing boat is sweared
Amount is calculated, and according to the result of the Vector operation wind speed information and wind direction information of the true wind relative to bank are obtained.
3. sailing boat autonomous control method according to claim 1, it is characterised in that the course current according to sailing boat with
The desired course vector, control the rudder angle of sailing boat is included with reaching or tracking the desired course：
By the actual heading of the deflection control sailing boat of rudder；
The actual heading of sailing boat is set to reach or track desired course by controlling rudder angle.
4. sailing boat autonomous control method according to claim 1, it is characterised in that described according to relative wind direction information control
The sail state of sailing boat includes：
According to the wind direction information of the relative wind, sail adjustment angle is controlled.
5. the sailing boat autonomous control method according to any one of Claims 1-4, it is characterised in that the rate-determining steps are also
Including：
The attitude angle of sailing boat is obtained, wherein, the attitude angle includes course angle, the angle of pitch and roll angle；
When the angle of pitch is more than the first preset danger value or when the roll angle is more than the second preset danger value, send
The distress signal that sailing boat is tumbled, and terminate navigation.
6. a kind of sailing boat automatic control device, it is characterised in that described device includes：
Way point setup module, for arranging at least one way point in navigation path；
Target waypoint determining module, for obtaining the sail information of sailing boat, next way point of sailing boat position is arranged
For target waypoint；
Desired course determining module, for according to the relative bearing of the sailing boat and the target waypoint and true wind
Direction determines desired course vector, including：True wind information acquiring unit, course district division unit, relative bearing determine
Unit and course district determining unit, wherein,
The true wind information acquiring unit is used to obtain the information of true wind；
The course district division unit is used for the wind direction information according to the true wind, and course district, institute are divided centered on sailing boat
Stating course district at least includes downwind district, upwind unnavigable district, sidewind district；
The relative azimuth angle determining unit is used for the relative position according to the target waypoint and sailing boat, calculates the target
Relative bearing of the way point relative to sailing boat；
The course district determining unit is used for the course district according to residing for the relative bearing determines the target waypoint；
It is described to determine that desired course vector includes：When the target waypoint is in sidewind district, by the current location of sailing boat
The unit vector for pointing to the target waypoint is desired course vector；When the target waypoint is in unnavigability windward
Qu Shi, needs sailing boat to realize tacking, and with " Z " font navigation path the target waypoint is reached；When the target course
When point is in downwind district, need sailing boat to avoid downwind district navigation, the target waypoint is reached with " Z " font navigation path；
Control module, for controlling the sail state of sailing boat according to relative wind direction information；According to the current course of sailing boat with it is described
Desired course vector, controls the rudder angle of sailing boat to reach or track the desired course；
Judge module, including the first judging unit and the second judging unit, wherein, the first judging unit is used to judge that sailing boat is
It is no to reach the target waypoint；If not reaching, return the desired course and determine step, if reaching, notify second
Judging unit；
Second judging unit is used to judge whether the target waypoint is navigation terminal point；If it is not, then returning the target
Way point determines step, if it is, terminating.
7. sailing boat automatic control device according to claim 6, it is characterised in that the true wind information acquiring unit is also
For wind speed information and wind direction information of the acquisition relative to the relative wind of sailing boat hull；Navigational speed information, course to the sailing boat
The wind direction information of information, the wind speed information of relative wind and relative wind carries out Vector operation, according to the result of the Vector operation
Wind speed information and wind direction information of the acquisition relative to the true wind of bank.
8. sailing boat automatic control device according to claim 6, it is characterised in that the control module includes that first is actual
Navigation control unit and the second actual navigation control unit, wherein,
First actual navigation control unit is used for the actual heading of the deflection control sailing boat by rudder；
Second actual navigation control unit is used to reach the actual heading of sailing boat by control rudder angle or tracks expectation
Course.
9. the sailing boat automatic control device according to claim 6 or 8, it is characterised in that the control module also includes wind
Sail adjusting angle control unit, for according to the wind direction information of the relative wind, controlling sail adjustment angle；
The control module also includes attitude angle acquiring unit and distress signal processing unit, wherein,
The attitude angle acquiring unit is used to obtain the attitude angle of sailing boat, wherein, the attitude angle includes course angle, bows
The elevation angle and roll angle；
The distress signal processing unit is used for when the angle of pitch is more than the first preset danger value or when the roll angle
During more than the second preset danger value, the distress signal that sailing boat is tumbled is sent, and terminate navigation.
10. a kind of sailing boat, including hull, sail, rudder, driving means and propulsion plant, it is characterised in that the sailing boat also includes
Sailing boat automatic control device as described in any one of claim 6~9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410462433.9A CN104267736B (en) | 2014-09-11 | 2014-09-11 | Autonomous control method and device of sailing ship and sailing ship |
| PCT/CN2014/095108 WO2016037444A1 (en) | 2014-09-11 | 2014-12-26 | Autonomous control method and device of sailboat and sailboat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410462433.9A CN104267736B (en) | 2014-09-11 | 2014-09-11 | Autonomous control method and device of sailing ship and sailing ship |
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| CN104267736A CN104267736A (en) | 2015-01-07 |
| CN104267736B true CN104267736B (en) | 2017-05-17 |
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| WO (1) | WO2016037444A1 (en) |
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| CN104267736A (en) | 2015-01-07 |
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