CN106354144A - Unmanned boat course control automatic deviation correcting method and system - Google Patents
Unmanned boat course control automatic deviation correcting method and system Download PDFInfo
- Publication number
- CN106354144A CN106354144A CN201611088846.0A CN201611088846A CN106354144A CN 106354144 A CN106354144 A CN 106354144A CN 201611088846 A CN201611088846 A CN 201611088846A CN 106354144 A CN106354144 A CN 106354144A
- Authority
- CN
- China
- Prior art keywords
- course
- control
- deviation
- unmanned boat
- course deviation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000012937 correction Methods 0.000 claims abstract description 82
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 230000010354 integration Effects 0.000 claims description 13
- 238000004422 calculation algorithm Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 238000013459 approach Methods 0.000 abstract 1
- 238000005070 sampling Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of an unmanned boat, in particular to an unmanned boat course control automatic deviation correcting method and system. The method comprises the following steps that the course deviation is multiplied by the proportion negative constant to proportionally eliminate the deviation; after the course deviation is subjected to differential calculation, then, the differential control proportion negative constant is multiplied; after the integral computation is performed on the course deviation, the differential control proportion negative constant is multiplied. The course deviation is respectively eliminated through proportion, differential and integral; the feedback and action on the system are performed; the goal that the practically output yaw angle infinitely approaches to the preset target yaw angle is achieved; the manual control mode navigation control precision of the unmanned boat is improved; the method and the system are very effective on linear course operation tasks; in application meeting the unmanned boat manual control requirements, the automatic course correction control is merged with the unmanned boat manual control mode; an automatic deviation correction mode based on manual control is created; in addition, the goal of eliminating complicated water area navigation deviation under the condition of not increasing the hardware cost of the unmanned boat is achieved, so that the system and the method provided by the invention are more practical and are easy to use.
Description
Technical field
The present invention relates to unmanned boat technical field, particularly to a kind of unmanned boat Heading control automatic correction method and be
System.
Background technology
The Heading control of unmanned boat refers to, by remote controller operation unmanned boat direction, throttle control signal output, reach no
People's ship is according to control route running purpose.
Processing system and method that the artificial Heading control of existing unmanned boat is commonly used, receive including unmanned boat control system
Behind the direction of manually operated telecontrol transmitter and throttle control signal, directly direction and throttle input signal are converted to unmanned
The direction of ship power control unit part and the output of throttle motor.But, this control does not account for the status of the water area of unmanned boat
And the scene characteristics that unmanned boat motor hardware works under water, lead to during actual navigation, existing unmanned ship power control
Part processed often because the factor such as current, weather cannot accurately execute course line and require, particularly controls course in straight course
Deviation in Shi Rongyi, simultaneously as unmanned boat is used for the motor operative scenario of power output under water, motor is subject to the shadow of current
Ring input and output performance characteristic under remote pilot mode and be also unable to reach linear scale thus leading to course line process to occur partially
Difference, although underwater scene is adapted to by the ardware feature that transformation increase motor hardware output feedback device verifies motor,
Realize technical difficulty complexity and the holistic cost of unmanned boat can be increased.
Content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provide a kind of unmanned boat Heading control automatic correction method and
It is achieved that artificial mode controls the navigation of unmanned boat precise linear, the present invention passes through automatically to revise course power in real time system, does not increase
Plus hardware cost and easy to use.
Unmanned boat Heading control automatic correction method of the present invention, compensates course power output by course deviation correction value,
Described course deviation correction value calculates in the following ways:
Course deviation is multiplied by the negative constant of ratio and eliminates deviation in proportion, obtains the first course deviation correction data；
Course deviation is carried out after differential calculation, be multiplied by the negative constant of differential control ratio, obtain the second course deviation correction number
According to；
It is multiplied by integration control ratio after course deviation being integrated calculate and bears constant, obtain the 3rd course deviation correction number
According to；
First course deviation correction data, the second course deviation correction data, the 3rd course deviation correction data are added,
Obtain course deviation correction value.
Unmanned boat Heading control system for automatically correcting of the present invention, including output control of engine power unit, is entangled by course deviation
On the occasion of compensating course power output, described output control of engine power unit includes:
Course deviation storage unit, for preserving course deviation
Ratio eliminates deviation unit, eliminates deviation in proportion for course deviation is multiplied by with the negative constant of ratio, obtains first
Course deviation correction data；
Differential eliminates deviation unit, for carrying out to course deviation being multiplied by the negative constant of differential control ratio after differential calculation,
Obtain the second course deviation correction data；
Integration eliminates deviation unit, for being integrated to course deviation after calculating being multiplied by the negative constant of integration control ratio,
Obtain the 3rd course deviation correction data；
Accumulated unit, for by the first course deviation correction data, the second course deviation correction data, the 3rd course deviation
Revise data to be added, obtain and export course deviation correction value.
Compared with prior art, the beneficial effects of the present invention is: by course deviation respectively through ratio, differential, integration
Eliminate course deviation feedback effect system, reach the target that reality output yaw angle is substantially equal to preset target yaw angle,
Lifting unmanned boat artificial control model navigation control accuracy is especially effective to straight course job task.Meeting unmanned boat people
In the application of work demand for control, control is corrected in automatic course and the artificial control model of unmanned boat merges, create a kind of being based on manually
Control automatic deviation correction pattern, and reach in the case of not increasing unmanned boat hardware cost be easier to eliminate complex water areas boat
The navigation deviation that row brings is so that the present invention is more practical, easy-to-use.
Brief description
Fig. 1 is unmanned boat Heading control automatic correction method preferred embodiment schematic flow sheet of the present invention；
Fig. 2 is unmanned boat Heading control system for automatically correcting preferred embodiment structural representation of the present invention.
Specific embodiment
Must become more apparent for making the object, technical solutions and advantages of the present invention express, below in conjunction with the accompanying drawings and specifically
Case study on implementation is described in further details to the present invention.
Unmanned boat Heading control automatic correction method of the present invention, compensates course power output by course deviation correction value,
As shown in figure 1, described course deviation correction value calculates in the following ways:
S101, course deviation are multiplied by the negative constant of ratio and eliminate deviation in proportion, obtain the first course deviation correction data；Excellent
Selection of land, comprising:
S101-1, input course deviation data error_course.
S101-2, one ratio of setting bear constant kp, and it is the negative constant eliminating yaw angle deviation data in proportion, its value
It is preferably [- 0.6, -0.4].
S101-3, the ratio that is multiplied by yaw angle deviation data error_course bear constant kp, obtain the first course deviation
Revise data output1=error_course+error_course × kp.
S102, course deviation is carried out be multiplied by after differential calculation with differential control ratio to bear constant, obtain the second course deviation
Revise data；
S102-1, determine that differential controls ratio to bear constant kd, its value is preferably [- 0.6, -0.4].
S102-2, yaw angle deviation data error_course was entered after differential first derivation, estimated by mistake by the time
Difference variation tendency derivative:
Derivative=(error_couser (k)-error_course (k-1))/t
T of the present invention represents the sampling interval of computation of Period course deviation, and error_couser (k) represents that kth t obtains
Course deviation.
S102-3, error change trend is multiplied by differential control ratio bear constant kd, obtain the second course deviation correction number
According to output2=derivative × kp.
S103, course deviation is integrated calculate after be multiplied by integration control ratio bear constant, obtain the 3rd course deviation
Revise data；
S103-1, determine that an integration control ratio bears constant ki, its value is preferably [- 0.06, -0.04].
The Accumulated deviation output3 of yaw angle in s103-2, calculating cycle certain time t
Output3=(error_course (k-1)+error_course (k)) × ki × t；
S104, by the first course deviation correction data, the second course deviation correction data, the 3rd course deviation correction data
It is added, obtain course deviation correction value output
Output=output1+output2+output3
Actual yaw angle output feedback is obtained by the cycle, the new course deviation error_course of input, through ratio,
Differential, integration eliminate course deviation feedback effect system, reach reality output yaw angle and are substantially equal to preset target driftage
The target at angle.
In fact, for eliminating error_course, the computing formula of its discrete state can be summarized as:
U (k)=kp × error_course (k)+ki ∑ error_course (k)
+kd×(error_couser(k)-error_course(k-1))/t
Preferably, described course deviation error_course obtains in the following ways:
Difference using preset target course value target_course and real-time yaw angle arhs.yaw obtaining is course
Deviation, i.e. error_course=target_course-arhs.yaw.
Described preset target course value method to set up includes the following:
When entering certain pattern, the yaw angle (yaw) obtaining from attitude algorithm unit arhs for the first time is set to preset mesh
Mark course value, it is the key index controlling unmanned boat line navigation reference.Below each sampling period obtain yaw angle be
Yaw angle arhs.yaw obtaining in real time.
Hull coordinate system and the ground of unmanned boat can be calculated by unmanned boat control system attitude algorithm unit arhs
Coordinate system, the relation between this two coordinate systems is three Euler (euler) angles, is the angle of pitch (pitch), yaw angle respectively
(yaw), roll angle (roll), the attitude that hull is relative to ground can be reacted in these three angles, and wherein yaw angle represents hull coordinate
It is that xb axle projects and angle between horizontal plane for the earth axes xg axle in the horizontal plane, counterclockwise by earth axes xg axle
Go to hull coordinate system xb axle projection line when, yaw angle is just, and fore right avertence is navigated as just, otherwise is negative.
Special instruction, arhs is that one kind mainly adopts inertial sensor with data warm algorithm accurate measurement space appearance
The algorithm of state, it is prior art, and this patent is not research arhs itself, simply uses the navigation attitude knot of this algorithm output
Really.
The yaw yaw angle that arhs resolves is used for showing current course deflection angle, and pitch, roll are usually used in the air
Posture position identifies, and unmanned boat is based on horizontal plane, so pitch, roll are little to the actual reference significance of the present invention.
Preferably, described course deviation error_course can optimize further, course deviation is filtered, that is, examines
Consider unmanned boat waters working scene, after starting automatic deviation correction pattern, the filtering policy of driftage angular data is based on original reference mesh
Mark 45 ° of scopes of initial point positive and negative deviation are valid data, and that is, the course deviation based on reference origin left avertence or 45 ° of right avertence judges effectively
Course deviation, more than being invalid course deviation during this scope, ignores this value.
Preferably, the calculating of described course deviation is carried out under automatic deviation correction pattern.
Preferably, described automatic deviation correction pattern is judged in the following ways, that is, judge in some cycles (preferably
10ms) the excursion of unmanned boat control system remote control direction channel input value steering, when the excursion of steering
Between positive and negative 1% interval of input range intermediate value, illustrate to be in straight course operation, be judged as automatic deviation correction pattern；If
Steering input value exceeds positive and negative 1% interval range of input range intermediate value and floats, and illustrates to be in non-rectilinear airline operational, then
It is not automatic deviation correction pattern.
Described capture unmanned boat control system remote control direction channel input value steering includes control system and reads remote control
The pulse width modulation pwm of direction controlling channel, pwm represent the ratio with the cycle for the square wave high level time, i.e. dutycycle, for example
1 second low level pwm ripple dutycycle of 1 second high level is 50%.
Preferably, described automatic deviation correction mode operation is under manual remote control control model.
Preferably, described manual remote control control model is judged in the following ways: capture and parsing unmanned boat control
System control model channel input value, when input value control_mode is manual mode manual, as manual remote control controls
Pattern.
Unmanned boat Heading control system for automatically correcting of the present invention, including output control of engine power unit, is entangled by course deviation
On the occasion of compensating course power output, as shown in Fig. 2 described output control of engine power unit includes:
Course deviation storage unit, for preserving course deviation.
Ratio eliminates deviation unit, eliminates deviation in proportion for course deviation is multiplied by with the negative constant of ratio, obtains first
Course deviation correction data；Preferably, comprising:
S101-1, input course deviation data error_course.
S101-2, one ratio of setting bear constant kp, and it is the negative constant eliminating yaw angle deviation data in proportion, its value
It is preferably [- 0.6, -0.4].
S101-3, the ratio that is multiplied by yaw angle deviation data error_course bear constant kp, obtain the first course deviation
Revise data output1=error_course+error_course × kp.
Differential eliminates deviation unit, for carrying out to course deviation being multiplied by the negative constant of differential control ratio after differential calculation,
Obtain the second course deviation correction data；
S102-1, determine that differential controls ratio to bear constant kd, its value is preferably [- 0.6, -0.4].
S102-2, yaw angle deviation data error_course was entered after differential first derivation, estimated by mistake by the time
Difference variation tendency derivative
Derivative=(error_couser (k)-error_course (k-1))/t
T of the present invention represents that sampling interval error_couser (k) of computation of Period course deviation represents that kth t obtains
Course deviation.
S102-3, error change trend is multiplied by differential control ratio bear constant kd, obtain the second course deviation correction number
According to output2=derivative × kp.
Integration eliminates deviation unit, for being integrated to course deviation after calculating being multiplied by the negative constant of integration control ratio,
Obtain the 3rd course deviation correction data；
S103-1, determine that an integration control ratio bears constant ki, its value is preferably [- 0.06, -0.04].
The Accumulated deviation output3 of yaw angle in s103-2, calculating cycle certain time t
Output3=(error_course (k-1)+error_course (k)) × ki × t；
Accumulated unit, for by the first course deviation correction data, the second course deviation correction data, the 3rd course deviation
Revise data to be added, obtain and export course deviation correction value output
Output=output1+output2+output3
Preferably, the course deviation of described course deviation storage unit obtains in the following ways:
Difference using preset target course value target_course and real-time yaw angle arhs.yaw obtaining is course
Deviation, i.e. error_course=target_course-arhs.yaw.
Described preset target course value method to set up includes the following:
When entering certain pattern, the yaw angle (yaw) obtaining from attitude algorithm unit arhs for the first time is set to preset mesh
Mark course value, it is the key index controlling unmanned boat line navigation reference.Below each sampling period obtain yaw angle be
Yaw angle arhs.yaw obtaining in real time.
Hull coordinate system and the ground of unmanned boat can be calculated by unmanned boat control system attitude algorithm unit arhs
Coordinate system, the relation between this two coordinate systems is three Euler (euler) angles, is the angle of pitch (pitch), yaw angle respectively
(yaw), roll angle (roll), the attitude that hull is relative to ground can be reacted in these three angles, and wherein yaw angle represents hull coordinate
It is that xb axle projects and angle between horizontal plane for the earth axes xg axle in the horizontal plane, counterclockwise by earth axes xg axle
Go to hull coordinate system xb axle projection line when, yaw angle is just, and fore right avertence is navigated as just, otherwise is negative.
Special instruction, arhs is that one kind mainly adopts inertial sensor with data warm algorithm accurate measurement space appearance
The algorithm of state, it is prior art, and this patent is not research arhs itself, simply uses the navigation attitude knot of this algorithm output
Really.
The yaw yaw angle that arhs resolves is used for showing current course deflection angle, and pitch, roll are usually used in the air
Posture position identifies, and unmanned boat is based on horizontal plane, so pitch, roll are little to the actual reference significance of the present invention.
Preferably, described course deviation error_course can optimize further, course deviation is filtered, that is, examines
Consider unmanned boat waters working scene, after starting automatic deviation correction pattern, the filtering policy of driftage angular data is based on original reference mesh
Mark 45 ° of scopes of initial point positive and negative deviation are valid data, and that is, the course deviation based on reference origin left avertence or 45 ° of right avertence judges effectively
Course deviation, more than being invalid course deviation during this scope, ignores this value.
Preferably, described unmanned boat Heading control system for automatically correcting includes mode controlling unit, with described power output
Control unit is connected；
As a kind of achievable mode, described mode controlling unit is used for automatic deviation correction mode decision, in the following ways
Judged, that is, judged (preferably 10ms) unmanned boat control system remote control direction channel input value steering in some cycles
Excursion, when the excursion of steering is between positive and negative 1% interval of input range intermediate value, illustrates to be in straight course behaviour
Make, be judged as automatic deviation correction pattern；If steering input value exceeds input range intermediate value, positive and negative 1% interval range floats
Dynamic, illustrate to be in non-rectilinear airline operational, be not then automatic deviation correction pattern.
Described capture unmanned boat control system remote control direction channel input value steering includes control system and reads remote control
The pulse width modulation pwm of direction controlling channel, pwm represent the ratio with the cycle for the square wave high level time, i.e. dutycycle, for example
1 second low level pwm ripple dutycycle of 1 second high level is 50%.
Can achieve mode as another kind of, described mode controlling unit is used for manual remote control control model and judges, adopt with
Under type is judged: capture and parsing unmanned boat control system control model channel input value, when input value control_
Mode is manual mode manual, as manual remote control control model.
Can achieve mode as another kind of, described mode controlling unit is used for automatic deviation correction mode decision and manual remote control control
Mode decision processed, concrete judgment mode is as above-mentioned in literary composition, repeats no more.
Above example, in meeting the application of unmanned boat artificial demand for control, automatic course is corrected and is controlled and unmanned boat people
Work control model merges, and creates one kind and is based on manually operated automatic deviation correction pattern.
The object, technical solutions and advantages of the present invention have been carried out further detailed description, institute by embodiment provided above
It should be understood that embodiment provided above be only the preferred embodiment of the present invention, not in order to limit the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement made for the present invention etc., should be included in the present invention
Protection domain within.
Claims (10)
1. unmanned boat Heading control automatic correction method, compensates course power output by course deviation correction value, and its feature exists
In: described course deviation correction value calculates in the following ways:
Course deviation is multiplied by the negative constant of ratio and eliminates deviation in proportion, obtains the first course deviation correction data；
Course deviation is carried out after differential calculation, be multiplied by the negative constant of differential control ratio, obtain the second course deviation correction data；
It is multiplied by integration control ratio after course deviation being integrated calculate and bears constant, obtain the 3rd course deviation correction data；
First course deviation correction data, the second course deviation correction data, the 3rd course deviation correction data are added, obtain
Course deviation correction value.
2. according to claim 1 unmanned boat Heading control automatic correction method it is characterised in that: described course deviation is pre-
Put the difference of bogey heading value and the real-time yaw angle obtaining, described preset target course is worth for for the first time from attitude algorithm unit
The yaw angle obtaining.
3. according to claim 2 unmanned boat Heading control automatic correction method it is characterised in that: described course deviation is entered
Row filters, and the course deviation based on reference origin left avertence or 45 ° of right avertence judges effective course deviation, more than being no during this scope
Effect course deviation.
4. according to claim 2 unmanned boat Heading control automatic correction method it is characterised in that: the meter of described course deviation
Calculate and carry out under automatic deviation correction pattern.
5. according to claim 4 unmanned boat Heading control automatic correction method it is characterised in that: described automatic deviation correction pattern
Judged in the following ways, that is, judged unmanned boat control system remote control direction channel input value steering in some cycles
Excursion, when the excursion of steering is positive and negative 1% interval between input range intermediate value, illustrate to be in straight course
Operation, is judged as automatic deviation correction pattern.
6. according to claim 5 unmanned boat Heading control automatic correction method it is characterised in that: described unmanned boat controls system
System remote control direction channel input value steering includes the pulse width modulation that control system reads remote control direction controlling channel.
7. according to claim 6 unmanned boat Heading control automatic correction method it is characterised in that: described automatic deviation correction pattern
Operate under manual remote control control model.
8. according to claim 7 unmanned boat Heading control automatic correction method it is characterised in that: described manual remote control controls
Pattern is judged in the following ways: capture and parsing unmanned boat control system control model channel input value, when control mould
Formula channel input value is for being artificial remote pilot pattern during manual mode.
9. unmanned boat Heading control system for automatically correcting, including output control of engine power unit, is compensated by course deviation correction value
Course power output it is characterised in that: described output control of engine power unit includes:
Course deviation storage unit, for preserving course deviation
Ratio eliminates deviation unit, eliminates deviation in proportion for course deviation is multiplied by with the negative constant of ratio, obtains the first course
Drift correction data；
Differential eliminates deviation unit, for carrying out to course deviation being multiplied by the negative constant of differential control ratio after differential calculation, obtains
Second course deviation correction data；
Integration eliminates deviation unit, for being integrated to course deviation after calculating being multiplied by the negative constant of integration control ratio, obtains
3rd course deviation correction data；
Accumulated unit, for by the first course deviation correction data, the second course deviation correction data, the 3rd course deviation correction
Data is added, and obtains and export course deviation correction value.
10. according to claim 9 unmanned boat Heading control system for automatically correcting it is characterised in that: include Schema control list
Unit, is connected with described output control of engine power unit, described mode controlling unit:
For automatic deviation correction mode decision, judge unmanned boat control system remote control direction channel input value in some cycles
The excursion of steering, when the excursion of steering is between positive and negative 1% interval of input range intermediate value, explanation is in
Straight course operates, and is judged as automatic deviation correction pattern；
Or/and
Judge for manual remote control control model, capture and parsing unmanned boat control system control model channel input value, work as control
Mode channel input value processed is for being artificial remote pilot pattern during manual mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611088846.0A CN106354144B (en) | 2016-12-01 | 2016-12-01 | Unmanned boat Heading control automatic correction method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611088846.0A CN106354144B (en) | 2016-12-01 | 2016-12-01 | Unmanned boat Heading control automatic correction method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106354144A true CN106354144A (en) | 2017-01-25 |
| CN106354144B CN106354144B (en) | 2019-03-26 |
Family
ID=57862024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611088846.0A Active CN106354144B (en) | 2016-12-01 | 2016-12-01 | Unmanned boat Heading control automatic correction method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106354144B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108628336A (en) * | 2017-03-16 | 2018-10-09 | 广州极飞科技有限公司 | Flight control method, device and the unmanned plane of unmanned plane |
| CN109747776A (en) * | 2019-03-12 | 2019-05-14 | 哈尔滨工程大学 | A kind of yawing response parameter based on integration method is to amount estimation method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH092383A (en) * | 1995-06-26 | 1997-01-07 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic control method of rov |
| CN2825407Y (en) * | 2005-07-21 | 2006-10-11 | 王云飞 | Straight-ahead running control device for vehicle |
| US20090248249A1 (en) * | 2008-03-28 | 2009-10-01 | Mando Corporation | Method for determining controlled variable of coordinate control on split road surface using deceleration of vehicle |
| CN101782780A (en) * | 2010-01-15 | 2010-07-21 | 汤晓东 | Wireless remote control fishing boat |
| CN101995830A (en) * | 2009-08-14 | 2011-03-30 | 中国舰船研究设计中心 | Ship high-precision control method |
| CN102789233A (en) * | 2012-06-12 | 2012-11-21 | 湖北三江航天红峰控制有限公司 | Vision-based combined navigation robot and navigation method |
| CN103777522A (en) * | 2014-01-21 | 2014-05-07 | 上海海事大学 | Unmanned surface vessel linear tracking method based on fuzzy PID |
| CN105676871A (en) * | 2016-01-19 | 2016-06-15 | 武汉理工大学 | Model ship based autonomous navigation control simulation system and method of under-actuated unmanned ship |
-
2016
- 2016-12-01 CN CN201611088846.0A patent/CN106354144B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH092383A (en) * | 1995-06-26 | 1997-01-07 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic control method of rov |
| CN2825407Y (en) * | 2005-07-21 | 2006-10-11 | 王云飞 | Straight-ahead running control device for vehicle |
| US20090248249A1 (en) * | 2008-03-28 | 2009-10-01 | Mando Corporation | Method for determining controlled variable of coordinate control on split road surface using deceleration of vehicle |
| CN101995830A (en) * | 2009-08-14 | 2011-03-30 | 中国舰船研究设计中心 | Ship high-precision control method |
| CN101782780A (en) * | 2010-01-15 | 2010-07-21 | 汤晓东 | Wireless remote control fishing boat |
| CN102789233A (en) * | 2012-06-12 | 2012-11-21 | 湖北三江航天红峰控制有限公司 | Vision-based combined navigation robot and navigation method |
| CN103777522A (en) * | 2014-01-21 | 2014-05-07 | 上海海事大学 | Unmanned surface vessel linear tracking method based on fuzzy PID |
| CN105676871A (en) * | 2016-01-19 | 2016-06-15 | 武汉理工大学 | Model ship based autonomous navigation control simulation system and method of under-actuated unmanned ship |
Non-Patent Citations (2)
| Title |
|---|
| 张玉婷，等: "基于STM32的无人艇自主导航控制系统的设计", 《海南大学学报自然科学版》 * |
| 林永屹,等: "基于非线性PID 的船舶航向自动舵设计", 《船电技术》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108628336A (en) * | 2017-03-16 | 2018-10-09 | 广州极飞科技有限公司 | Flight control method, device and the unmanned plane of unmanned plane |
| CN109747776A (en) * | 2019-03-12 | 2019-05-14 | 哈尔滨工程大学 | A kind of yawing response parameter based on integration method is to amount estimation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106354144B (en) | 2019-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102393744B (en) | Navigation method of pilotless automobile | |
| CN103777522B (en) | Unmanned water surface ship line tracking method based on fuzzy | |
| Low et al. | GPS-based path following control for a car-like wheeled mobile robot with skidding and slipping | |
| CN108319138A (en) | A kind of sliding formwork of drive lacking unmanned boat-contragradience double loop Trajectory Tracking Control method | |
| CN106444838A (en) | Precise path tracking control method for autonomous underwater vehicle | |
| CN104377447B (en) | A kind of maneuvering target tracking control system based on Kalman filter | |
| CN112114594B (en) | Multi-unmanned aerial vehicle cooperative control method and system based on vision and performance constraints | |
| CN104964683B (en) | A kind of closed-loop corrected method of indoor environment map building | |
| CN103376452B (en) | Method for correction of underwater robot position error with single acoustic beacon | |
| CN109839934A (en) | Unmanned water surface ship default capabilities tracking and controlling method based on RISE technology | |
| CN110377036A (en) | A kind of unmanned water surface ship Track In Track set time control method constrained based on instruction | |
| CN105843224A (en) | AUV horizontal planar path tracking control method based on neural dynamic model and backstepping method | |
| CN111948937B (en) | Multi-gradient recursive reinforcement learning fuzzy control method and system of multi-agent system | |
| CN103760908A (en) | Inspecting device closed loop tracking control method | |
| CN104765368A (en) | Unmanned ship heading and speed cooperative control method based on fuzzy adaptive algorithm | |
| CN106444822A (en) | Space vector field guidance based stratospheric airship's trajectory tracking control method | |
| CN104635734A (en) | Method for tracking trajectories of tracked robots | |
| CN109656142B (en) | Cascade structure model-free self-adaptive guidance method for unmanned ship | |
| CN105045284A (en) | Anti-interference drone path tracking control method | |
| CN113359710A (en) | LOS theory-based agricultural machinery path tracking method | |
| CN111552293A (en) | Mobile robot formation control method based on images under visual field constraint | |
| CN103425131A (en) | Navigation control method on basis of non-smooth control and disturbance observation for agricultural tractor | |
| CN111240362B (en) | Control method and device for intelligently guiding aircraft to turn | |
| CN109813305A (en) | Unmanned fork lift based on laser SLAM | |
| CN106354144A (en) | Unmanned boat course control automatic deviation correcting method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |