CN106950959A - New ship sighting distance method of guidance - Google Patents
New ship sighting distance method of guidance Download PDFInfo
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- CN106950959A CN106950959A CN201710213798.1A CN201710213798A CN106950959A CN 106950959 A CN106950959 A CN 106950959A CN 201710213798 A CN201710213798 A CN 201710213798A CN 106950959 A CN106950959 A CN 106950959A
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- ship
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of new ship sighting distance method of guidance, this method includes following steps：1st, ship guidance system generates each straight line air route section by the way point of input, and to the final planning flight path of adjacent air route section progress arc transition processing generation；2nd, the current location information fed back according to ship, judges nearest air route section and calculates course-line deviation；3rd, the command heading of ship, the flight path of guiding ship tracking planning are extrapolated away from bootstrap technique using the novel sight of proposition.A kind of new ship sighting distance method of guidance of proposition is applied to ship's track-keepping control field by the present invention, command heading preferably can be obtained, ship is gently converged to targetpath in course-line deviation control range, can control ship tracking planning flight path, control sensitivity is easily adjusted.
Description
Technical field
The present invention relates to ship track autopilot technical field, in particular to a kind of new ship sighting distance method of guidance.
Technical background
Flight tracking control refers in the case of known flight path, keeps ship on given track without course-line deviation and without boat
The purpose navigated by water to deviation.Either be used for the ship of the theater of war, such as ocean is antisubmarine, hunt thunder, the monitoring of ocean military situation with scouting,
Electronic information war and communication relaying etc.；Or for the unmanned search and rescue ship of other field, overflow oil recovering ship oceangoing ship, hydrogeology monitoring
Ship, various intelligent ships all be unable to do without Track In Track control system.What is more commonly used in flight tracking control field at present is sighting distance
Method of guidance.
Sighting distance guidance algorithm is to obtain a kind of wide variety of navigation in fields such as missile guidance, unmanned plane, robots to calculate
Method, is introduced into behind ship track-keeping control field, has also obtained being widely applied very much, it is pushed away by the current location of ship
The command heading that ship can be made to converge on planning flight path is calculated, as long as ship follows the command heading can to effectively realize to flight path
Holding.Its essence is exactly to control ship course to shorten course-line deviation to track planning flight path, simplifies flight tracking control device and sets
The complexity of meter, and the relative separation of flight tracking control and Heading control is realized, so that system has more preferable stability.
Guidance system introduces one using ship current location as the center of circle, and r is the circle of radius.When ship is close to flight path section, worked as with ship
Anteposition is set to the center of circle, will intersect at track line at 2 points using r as the circle of radius, vessel position and that before direction of ship travel
Line between individual point is sight, and the corresponding direction of sight is required ship desired course.This traditional design can not
The situation of ship required bigger directional command when away from flight path is met, and during ship converges on planning flight path not
It is enough steady, it is difficult to obtain good flight tracking control effect.
The content of the invention
Present invention aim to provide a kind of new ship sighting distance method of guidance, this method can realize ship to rule
Draw the tracking of flight path.
In order to achieve this, the new ship sighting distance method of guidance designed by the present invention, it is characterised in that it is included such as
Lower step：
Step 1：Two neighboring way point is connected by the way point of input and generates each straight line air route by ship guidance system
Section, and to the final planning flight path of adjacent straight line air route section progress arc transition processing generation；
Step 2：The current location information fed back according to ship, judges that nearest straight line navigates using step 2.1~step 2.3
Section simultaneously calculates course-line deviation：
Step 2.1：To each straight line air route segment labeling in final planning flight path；
Step 2.2：Distinguish the folder of Ship ' current location point and each straight line air route section starting point line and corresponding air route section
Angle, and ship current location point and each straight line air route segment endpoint line and the angle of corresponding air route section, if two angles are all to be sharp
Angle, then it is vertical range of the ship to air route section to take course-line deviation, and no takes ship current location point and line correspondence air route
Shorter one's length of Duan Qidian lines and ship current location point and line correspondence air route segment endpoint line is course-line deviation, most
The course-line deviation tried to achieve by every section of air route is stored in array TE afterwards；
Step 2.3：Compare the size of the course-line deviation in every section of air route in array TE, take wherein minimum value as actual flight path
Deviation, obtains the corresponding air route segment labeling of actual flight path deviation, as nearest air route segment labeling；
Step 3：The command heading of ship is extrapolated using the sighting distance method of guidance of following steps 3.1~3.4, ship is guided
Track the flight path of planning；
Step 3.1：If A (xk,yk)、B(xk+1,yk+1) two phases of the nearest air route section recognized by step 2 are represented respectively
Adjacent track points, ship is along adjacent track points A (xk,yk)、B(xk+1,yk+1) between line navigation, take it is fixed at the earth's surface
Right-handed coordinate system be reference frame, the azimuth of the target direction line in reference frame is inverse with the X-axis of reference frame
Hour hands rotate to the target direction line just, ship to be set in addition in the course in AB course lines as θ, C (x, y) represents the present bit of ship
Put；
Step 3.2：Judge whether ship is turned in distance range default, if it is perform step 3.3, it is no, then hold
Row step 3.4；
Step 3.3：When the course-line deviation ＞ that step 2 calculating is obtained presets course-line deviation control range value r, instruction fetch boat
ToWhen step 2 calculates obtained course-line deviation≤default course-line deviation control range value r, ship current location is crossed
It is r that point C (x, y), which is done with the tangent radius in AB course lines,1Circle, above-mentioned default course-line deviation control range value r is equal to above-mentioned circle
Radius is r1, the circle in direction of ship travel is taken, the tangent line for taking ship current location point C (x, y) place to justify is sight, then calculates finger
The course is made to beWherein PdFor course-line deviation, r1Done and AB course lines for ship current location point C (x, y)
The radius of tangent circle, asin represents arcsin function；
Step 3.4：Ship carries out air route section switching, command heading now for next section of course line direction.
The beneficial effects of the present invention are：
1st, this patent can set the desired control range of course-line deviation for the new sighting distance method of guidance illustrated, pass through
Adjust the control sensitivity that its size is easy to adjust guidance system；
2nd, guidance system introduce one cross ship current location point and with the circle that the tangent radius in course line is r, thus obtain
Sight is taken, command heading preferably can be obtained；
3rd, method of guidance clear thinking, algorithm is simple, and ship can be enable gently to converge to planning flight path, and reaches control
Effect of the ship processed in planning flight path.
Brief description of the drawings
Fig. 1 is the flow chart of novel ship sighting distance guidance algorithm；
Fig. 2 is to turn to the processing of section arc transition；
Fig. 3 is nearest air route section identification；
Fig. 4 is novel sight away from method of guidance schematic diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
New ship sighting distance method of guidance involved in the present invention, as shown in Figure 1 and Figure 4, it comprises the following steps：
Step 1：Two neighboring way point is connected by the way point of input and generates each straight line air route by ship guidance system
Section, and to the final planning flight path of adjacent straight line air route section progress arc transition processing generation；
Step 2：The current location information fed back according to ship, judges that nearest straight line navigates using step 2.1~step 2.3
Section simultaneously calculates course-line deviation：
Step 2.1：To each straight line air route segment labeling in final planning flight path；
Step 2.2：Distinguish the folder of Ship ' current location point and each straight line air route section starting point line and corresponding air route section
Angle, and ship current location point and each straight line air route segment endpoint line and the angle of corresponding air route section, if two angles are all to be sharp
Angle, then it is vertical range of the ship to air route section to take course-line deviation, otherwise takes ship current location point and line correspondence air route
Shorter one's length of Duan Qidian lines and ship current location point and line correspondence air route segment endpoint line is course-line deviation, most
The course-line deviation tried to achieve by every section of air route is stored in array TE afterwards；
Step 2.3：Compare the size of the course-line deviation in every section of air route in array TE, take wherein minimum value as actual flight path
Deviation, obtains the corresponding air route segment labeling of actual flight path deviation, as nearest air route segment labeling；
Step 3：The command heading of ship is extrapolated using the sighting distance method of guidance of following steps 3.1~3.4, ship is guided
Track the flight path of planning；
Step 3.1：If A (xk,yk)、B(xk+1,yk+1) two phases of the nearest air route section recognized by step 2 are represented respectively
Adjacent track points, ship is along adjacent track points A (xk,yk)、B(xk+1,yk+1) between line navigation, take it is fixed at the earth's surface
Right-handed coordinate system be reference frame, the azimuth of the target direction line in reference frame is inverse with the X-axis of reference frame
Hour hands rotate to the target direction line just, ship to be set in addition in the course in AB course lines as θ, C (x, y) represents the present bit of ship
Put；
Step 3.2：Judge whether ship is turned in distance range default, if it is perform step 3.3, it is no, then hold
Row step 3.4；
Step 3.3：When the course-line deviation ＞ that step 2 calculating is obtained presets course-line deviation control range value r, instruction fetch boat
ToWhen step 2 calculates obtained course-line deviation≤default course-line deviation control range value r, ship current location is crossed
It is r that point C (x, y), which is done with the tangent radius in AB course lines,1Circle, above-mentioned default course-line deviation control range value r is equal to above-mentioned circle
Radius is r1, the circle in direction of ship travel is taken, the tangent line for taking ship current location point C (x, y) place to justify is sight, then calculates finger
The course is made to beWherein PdFor course-line deviation, r1Done and AB course lines for ship current location point C (x, y)
The radius of tangent circle, asin represents arcsin function；
Step 3.4：Ship carries out air route section switching, command heading now for next section of course line direction.
Ship guidance system is by the way point of input in the step 1 of above-mentioned technical proposal, by two neighboring way point phase
Adhesion is concretely comprised the following steps into each straight line air route section, and to the section progress arc transition processing of adjacent straight line air route, (such as Fig. 2 institutes
Show)：
Step 1.1：Default steering distance is taken according to the captain of ship；
Step 1.2：If PmPm+1、Pm+1Pm+2For two adjacent straight line air routes, turned to according to default apart from R0With steering angle meter
Radius of turn R is calculated, so as to obtain arc transition section, above-mentioned steering angle is the supplementary angle α of adjacent air route section angle.
In above-mentioned technical proposal, the default steering is apart from R0=1.5Lpp, wherein LppFor captain, R0For it is default turn to away from
From.
In the step 3.3 of above-mentioned technical proposal, when step 2 calculates the obtained default course-line deviation control models of course-line deviation ＞
Value r is enclosed, and ship is when planning on the left of flight path, instruction fetch courseWhen the course-line deviation ＞ that step 2 calculating is obtained is preset
Course-line deviation control range value r, and ship is when planning on the right side of flight path, instruction fetch course
In the step 3.3 of above-mentioned technical proposal, when step 2 calculates obtained course-line deviation≤default course-line deviation control model
Value r is enclosed, and ship is when planning on the left of flight path, instruction fetch courseWhen step 2 calculates obtained boat
Mark deviation≤default course-line deviation control range value r, and ship is when planning on the right side of flight path, instruction fetch course
During specific implementation, the current location information of ship is obtained by the navigation module of ship in step 2, such as conventional
GPS；Recognize comprising the following steps that (as shown in Figure 3) for nearest air route section：
Step 2.1：To each air route segment labeling in planning flight path:[1], [2] ... in [n-1], figure S points be ship present bit
Put, P1To PnEach point is respectively the beginning and end of each air route section；
Step 2.2：Difference Ship ' S current location points and each straight line air route section starting point Pm-1Line and corresponding air route section
Angle, and ship S current locations point and each straight line air route segment endpoint PmThe angle of line and corresponding air route section [m-1], if
Two angles are all acute angle, i.e.,Then take course-line deviation Tem-1For ship S hanging down to air route section
Straight distance, otherwise (it is not acute angle to have one in i.e. two angles), i.e.,Take ship current location point and correspondence straight
Shorter one's length of line air route section starting point line and ship current location point and line correspondence air route segment endpoint line is flight path
Deviation is Tem-1For SPmLength, finally the course-line deviation tried to achieve by every section of air route is stored in array TE, (m ∈ [2,
n])；
Step 2.3：Compare the size of each data in array TE, take wherein minimum value as actual flight path deviation, to obtain reality
The corresponding air route segment labeling of border course-line deviation, as nearest air route segment labeling.
The present invention proposes a kind of new ship sighting distance method of guidance, for ship's track-keepping control problem：In flight path control
In the range of system, guidance system introduce one cross ship current location point and with the circle that the tangent radius in course line is r, thus obtain
Sight, can obtain command heading preferably, ship is gently converged to targetpath and course；In flight tracking control model
Enclose outer, the direction that guidance system guides ship vertically to plan flight path is navigated by water, and rapidly to shorten course-line deviation, reaches ship
Flight tracking control scope.
The content that specification is not described in detail belongs to prior art known to professional and technical personnel in the field.
Claims (5)
1. a kind of new ship sighting distance method of guidance, it is characterised in that it comprises the following steps：
Step 1：Two neighboring way point is connected by the way point of input and generates each straight line air route section by ship guidance system,
And the final planning flight path of arc transition processing generation is carried out to adjacent straight line air route section；
Step 2：The current location information fed back according to ship, nearest straight line air route section is judged using step 2.1~step 2.3
And calculate course-line deviation：
Step 2.1：To each straight line air route segment labeling in final planning flight path；
Step 2.2：Distinguish the angle of Ship ' current location point and each straight line air route section starting point line and corresponding air route section, with
And ship current location point and each straight line air route segment endpoint line and the angle of corresponding air route section, if two angles are all acute angle,
It is the vertical range of ship to air route section to take course-line deviation, otherwise takes ship current location point and line correspondence air route section starting point
Line and ship current location point are course-line deviation with shorter one's length of line correspondence air route segment endpoint line, finally will be by
The course-line deviation that every section of air route is tried to achieve is stored in array TE；
Step 2.3：Compare the size of the course-line deviation in every section of air route in array TE, take wherein minimum value inclined as actual flight path
Difference, obtains the corresponding air route segment labeling of actual flight path deviation, as nearest air route segment labeling；
Step 3：The command heading of ship is extrapolated using the sighting distance method of guidance of following steps 3.1~3.4, ship tracking is guided
The flight path of planning；
Step 3.1：If A (xk,yk)、B(xk+1,yk+1) represent respectively two of the nearest air route section recognized by step 2 it is adjacent
Track points, ship is along adjacent track points A (xk,yk)、B(xk+1,yk+1) between line navigation, take the fixed right side at the earth's surface
Hand coordinate system is that the azimuth of the target direction line in reference frame, reference frame is counterclockwise with the X-axis of reference frame
Rotation to the target direction line is just, ship to be set in addition in the course in AB course lines as θ, C(x,y)Represent the current location of ship；
Step 3.2：Judge whether ship is turned in distance range default, if it is perform step 3.3, it is no, then perform step
Rapid 3.4；
Step 3.3：When the course-line deviation ＞ that step 2 calculating is obtained presets course-line deviation control range value r, instruction fetch courseWhen step 2 calculates obtained course-line deviation≤default course-line deviation control range value r, ship current location point is crossed
C(x,y)It is r to do with the tangent radius in AB course lines1Circle, above-mentioned default course-line deviation control range value r be equal to above-mentioned circle radius
For r1, the circle in direction of ship travel is taken, ship current location point C is taken(x,y)The tangent line of place's circle is sight, then calculates command heading
ForWherein PdFor course-line deviation, r1For ship current location point C(x,y)Do the circle tangent with AB course lines
Radius, asin represents arcsin function；
Step 3.4：Ship carries out air route section switching, command heading now for next section of course line direction.
2. new ship sighting distance method of guidance according to claim 1, it is characterised in that：Ship is guided in the step 1
Two neighboring way point is connected by the way point of input and generates each straight line air route section by system, and to adjacent straight line air route section
Carry out concretely comprising the following steps for arc transition processing：
Step 1.1：Default steering distance is taken according to the captain of ship；
Step 1.2：Radius of turn R is calculated according to default steering distance and steering angle, so as to obtain arc transition section, above-mentioned steering
Angle is the supplementary angle α of adjacent air route section angle.
3. new ship sighting distance method of guidance according to claim 1, it is characterised in that：The default steering is apart from R0=
1.5Lpp, wherein LppFor captain, R0Distance is turned to be default.
4. new ship sighting distance method of guidance according to claim 1, it is characterised in that：In the step 3.3, work as step
2, which calculate obtained course-line deviation ＞, presets course-line deviation control range value r, and ship is when planning on the left of flight path, instruction fetch boat
ToAs the default course-line deviation control range value r of course-line deviation ＞ that step 2 calculating is obtained, and ship is in planning flight path
During right side, instruction fetch course
5. new ship sighting distance method of guidance according to claim 1, it is characterised in that：In the step 3.3, work as step
2 calculate obtained course-line deviation≤default course-line deviation control range value r, and ship is when planning on the left of flight path, instruction fetch boat
ToWhen step 2 calculates obtained course-line deviation≤default course-line deviation control range value r, and ship
Oceangoing ship is when planning on the right side of flight path, instruction fetch course
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| CN107390691A (en) * | 2017-07-28 | 2017-11-24 | 广东嘉腾机器人自动化有限公司 | A kind of AGV path following methods |
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| CN111127955A (en) * | 2019-11-28 | 2020-05-08 | 中国航空工业集团公司西安航空计算技术研究所 | Automatic activation method for flight planning flight segment |
| CN111998858A (en) * | 2020-09-15 | 2020-11-27 | 长春工业大学 | Unmanned aerial vehicle route planning method based on improved A-star algorithm |
| CN114019989A (en) * | 2021-10-27 | 2022-02-08 | 中国舰船研究设计中心 | Underwater vehicle track indirect automatic control method based on PID |
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| CN111998858A (en) * | 2020-09-15 | 2020-11-27 | 长春工业大学 | Unmanned aerial vehicle route planning method based on improved A-star algorithm |
| CN111998858B (en) * | 2020-09-15 | 2024-01-19 | 长春工业大学 | Unmanned aerial vehicle route planning method based on improved A-algorithm |
| CN114019989A (en) * | 2021-10-27 | 2022-02-08 | 中国舰船研究设计中心 | Underwater vehicle track indirect automatic control method based on PID |
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Application publication date: 20170714 |