CN107942095A - Wave glider actual heading Forecasting Methodology - Google Patents
Wave glider actual heading Forecasting Methodology Download PDFInfo
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- CN107942095A CN107942095A CN201711129032.1A CN201711129032A CN107942095A CN 107942095 A CN107942095 A CN 107942095A CN 201711129032 A CN201711129032 A CN 201711129032A CN 107942095 A CN107942095 A CN 107942095A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
The present invention is to provide a kind of wave glider actual heading Forecasting Methodology.(1) 2 positions of wave glider in the short time are obtained by GPS, obtains the direction of motion of wave glider.(2) compass each carried by upper float and submerged body obtains the course angle of upper float and turns the course angle of bow angular speed and submerged body and turn bow angular speed.(3) the identification algorithm model of wave glider kinematic system is established, the output at the model moment is calculated according to the estimation parameter of previous moment at the k moment, that is the output predicted value of the identification algorithm model of wave glider kinematic system, while calculate prediction error.(4) prediction error is fed back in the identification algorithm model of wave glider kinematic system, the model parameter estimation value at k moment is calculated under criterion, and update model parameter, iteration continues until its criterion function reaches minimum value.The method calculation accuracy of the present invention with apart from unrelated, it is clear in structure, be easy to write computer program and realize.
Description
Technical field
The present invention relates to a kind of course prediction method of wave glider.Specifically a kind of wave glider
Actual heading Forecasting Methodology.
Background technology
Wave glider is a unmanned mobile observation platform in new sea, has large scale, and overlength continuation of the journey is economical
The ocean environment observation ability of environmental protection.Wave glider is by surface floating body lash ship, underwater gliding body and plays both connections
Connection chain cable three parts composition.The principle of wave glider design is wave energy ubiquitous in ocean to be relied on to be converted to
Its forward propulsive force, solar panel conversion solar is carried on surface floating body deck can carry out instrument for carrying for electric power
Power with sensor.Wave glider is quickly grown abroad, is widely used in scientific research of seas etc., technology
Tend to be ripe, but just rise at home, its technical monopoly, for breaking technical monopoly, develops science and technology in the U.S. at present
The higher wave glider of level content is applied to domestic industry-by-industry and is of great importance.
Wave glider need to obtain target point guidance information in real time, due to wave when execution follows task from main path
The architectural feature of glider causes the actual heading of wave glider to be difficult to determine in real time.When the acquisition real-time goal direct of target
During information, the course of wave glider need to be changed in real time, under this condition, according to floating body course angle instantly, turn bow angular speed
With the course angle of submerged body, turn bow angular speed to forecast that the actual heading of subsequent time wave glider is particularly significant.When acquisition mesh
When marking real-time goal direct information, the course of wave glider need to be changed in real time, under this condition, navigated according to floating body instantly
To angle, turn the course angle of bow angular speed and submerged body, turn bow angular speed to forecast the actual heading ten of subsequent time wave glider
Divide important.
The paper that Harbin Engineering University's Liao Yu thunders etc. are delivered《The intelligent control system for
an unmanned wave glider》In for marine environment disturbance wave glider path trace especially under action of ocean current
Existing steady-state error problem, it is proposed that a kind of self-adaptive PID Guidance Law is to compensate adverse effect of the ocean current to system motion.So
And the guidance is only applicable to current location and the nearer situation in target location, calculation error is larger when distant, and should
Method can not meet the requirement for changing wave glider course in real time, when neighbouring sea situation is complicated, can not meet the requirements.National sea
Foreign technique center history such as is good at the paper delivered《Wave energy glider navigation strategy research based on multisensor》In be based on Gauss
Geodesic algorithm and pid control algorithm, constitute wave glider navigation strategy.
The content of the invention
It is suitable for relatively long distance again suitable for short distance it is an object of the invention to provide one kind, the small wave of error is slided
Xiang device actual heading Forecasting Methodology
The object of the present invention is achieved like this：
(1) GPS carried in itself by wave glider obtains 2 positions of k and k1 moment waves glider, between the time
It is divided into the sampling period of GPS.When being set in two positions, it is S1 and S2 that displacement, which is respectively, and then obtains 2 displacement S.Root
According to speed calculation formula, the ratio of displacement S and Δ t is speed (this speed is vector, including velocity magnitude and direction), to obtain the final product
To the direction of motion of whole wave glider, the movement velocity direction of wave glider is obtained；
(2) course angle of upper float and bow angle speed is turned by respective compass on upper float and submerged body, when obtaining k and during k1
Degree and submerged body course angle and turn bow angular speed, be denoted as respectivelyWith
(3) establish the identification algorithm model of wave glider kinematic system, using Step wise approximation method the k moment according to
The estimation parameter of previous moment calculates the output at the model moment, i.e. the identification algorithm model of wave glider kinematic system
Predicted value is exported, while calculates prediction error；
(4) prediction error is fed back in the identification algorithm model of wave glider kinematic system, k is calculated under criterion
The model parameter estimation value at moment, and model parameter is updated, so iteration continues, until its criterion function reaches minimum value, this
The output at moment and the actual heading of wave glider subsequent time are the output of the approximation system under criterion.
The present invention provides a kind of forecasting procedure of wave glider actual heading, for wave glider real navigation mistake
Real-time prediction future time actual heading in journey, important reference is provided for wave glider control decision.Specifically
A kind of wave glider is during navigation, and according to upper float and the respective course angle of diving body and to turn bow Attitude rate estimator next
The method of the actual heading of moment wave glider.This method is suitable for short distance (within 10) to relatively long distance (more than 100)
Kept away etc. the wave glider actual heading estimation under various distance conditions and wave glider track following, trajectory planning, sea
There is important application in terms of barrier, according to the principle of algorithm iteration, error can be dropped to very low.
Brief description of the drawings
Fig. 1 wave glider actual heading Forecasting Methodology flow charts.
Embodiment
The forecasting procedure in the wave glider entirety course of the present invention is mainly used for the overall course of wave glider navigation
Forecast.Wave glider is mainly made of three parts, is the upper float on the water surface respectively, and underwater glide vehicle connects this with responsible
Two-part chain cable.During real navigation, presence and wave glider due to factors such as wave and ocean currents are moved in itself
Principle cause floating body above wave glider not fully consistent with the athletic posture of underwater gliding body, surface floating body and underwater
The direction of motion of glide vehicle reality is not the direction of motion of wave glider entirety.But in practical use, in many cases
We most want that what is obtained is exactly the direction of motion of wave glider subsequent time.
The self-contained sensing for obtaining own location information and athletic posture information for having GPS and magnetic compass of wave glider
Device, information is moved when obtaining wave glider cloud in a short time, and two positions of wave glider in a short time are obtained by GPS
Difference and the actual motion direction that wave glider can be obtained.Each one magnetic compass of self installation on upper float and submerged body, you can
Obtain the course angle of upper float and turn the course angle of bow angular speed and submerged body and turn bow angular speed.With reference in modern control theory
System identifying method, establishes the input and output function of time of wave glider system to determine the mathematical modulo of description system action
Type, so as to draw the direction of motion of wave glider subsequent time.By previous moment upper float course and turn bow angle speed
Degree and submerged body course and turn the actual heading that bow angular speed extrapolates subsequent time wave glider entirety.System is defeated really
Enter the course angle including last moment upper float and turn bow angular speed, the course angle of submerged body and turn bow angular speed, output is exactly ripple
The actual heading of unrestrained glider subsequent time.The forecasting procedure calculation accuracy of wave glider actual heading provided by the invention with
It is clear in structure apart from unrelated, it is easy to write computer program realization.
Illustrate below and the present invention is described in more detail.
When wave glider at sea works, perform from main path follow task when, need to obtain in real time target point guidance letter
Breath, mainly includes current location far from target location azimuth and distance.In actual work, it is desirable to the future of wave glider
Actual heading is predicted, and then optimizes the course control system of wave glider.Wave glider possesses virtually limitless continuation of the journey
Power, scope of activities is larger, can reach thousands of or even tens thousand of kilometers, at this time, the prediction to wave glider actual heading seem to
Close important.
The Forecasting Methodology of wave glider actual heading provided by the invention, it is intended to solve problems with：Known wave is slided
The course angle of Xiang device last moment upper float and submerged body and turn bow angular speed, and the position latitude and longitude information P of known previous moment1
(B1,L1) and current time position latitude and longitude information P2(B2,L2), you can try to achieve the current actual heading of wave glider.
Wherein B represents latitude, and L represents longitude.
The present invention main thought be：The boat of both last moments is measured by the compass installed on upper float and submerged body
To angle and turn bow angular speed, the actual heading of current wave glider is measured by the GPS carried, is obtained by a current time
The course angle of floating body and turn the course angle of bow angular speed and submerged body and turn bow angular speed to extrapolate subsequent time wave glider whole
The course of body.Specifically include four parts (1) and 2 positions of wave glider in the short time are obtained by GPS, and then obtain ripple
The direction of motion of unrestrained glider.(2) compass each carried by upper float and submerged body obtains the course angle of upper float and turns bow angle
Speed and the course angle of submerged body and turn bow angular speed.(3) the identification algorithm model of wave glider kinematic system is established, is terrible
To the estimate of model parameter, using the method for Step wise approximation.Model is calculated according to the estimation parameter of previous moment at the k moment
The output predicted value of the identification algorithm model of the output at the moment, i.e. wave glider kinematic system, while calculate forecast and miss
Difference.(4) so prediction error will be fed back in the identification algorithm model of wave glider kinematic system, k is calculated under criterion
The model parameter estimation value at moment, and model parameter is updated, so iteration continues, until its criterion function reaches minimum value.This
The output at moment and the actual heading of wave glider subsequent time are the output of the approximation system under criterion.
With reference to Fig. 1, flow of the invention is as follows：
(1) 2 position P of wave glider are obtained by GPS1(B1,L1) and P2(B2,L2), when being set in two positions,
It is S1 and S2 that displacement, which is respectively, and then obtains 2 displacement S.At the same time, the identification algorithm of wave glider kinematic system
Model running.According to speed calculation formula, the ratio of displacement S and Δ t is speed, that is, obtains the movement of whole wave glider
Direction, at the same time, the System Discrimination algorithm model operation of wave glider.The compass each carried by upper float and submerged body obtains
To by P1(B1,L1) and P2(B2,L2) 2 when upper float course angle and turn the course angle of bow angular speed and submerged body and turn bow
Angular speed, is denoted as respectivelyWithKnown wave glider current location P1(B1,L1),
Target location P2(B2,L2), wherein B represents latitude, and L represents longitude.
(2) after the direction of motion of wave glider is obtained, the wave glider kinematic system of foundation is passed it to
Identification algorithm model.System output quantity isFor the identification of wave glider kinematic system
The actual heading at the wave glider k moment that the output predicted value of algorithm model, i.e. CALCULATING PREDICTION are drawn, e (k) are error.
In mode inputThe course angle of k-1 moment upper floats is represented respectively, turns bow angle
Speed, the course angle of submerged body and turns bow angular speed, these input quantities are all known quantity.Model parameter θ is expressed as a matrix, presses
It is respectively the course angle of upper float according to arrangement of elements order, turns bow angular speed, the course angle of submerged body and turns bow angular speed.It is denoted as：
(3) estimate of model parameter in order to obtain, using the method for Step wise approximation.At the k moment according to previous moment
Estimation parameter calculates the output at the model momentCalculate prediction error at the same timeWhen error is less than the threshold value of setting, wave glider kinematic system identification algorithm will be exported
The output quantity of model.When error is more than the threshold value of setting, error and predicted value are returned into wave glider System Discrimination
In algorithm model, model parameter is updated, until its error calculated is less than the threshold value of setting.
(4) the wave glider kinematic system identification algorithm model output predicted value for meeting error requirements is substituted into criterion letter
Number, calculates the model parameter estimation value at k moment under criterion, and updates model parameter, and so iteration continues, until its criterion
Function reaches minimum value.The output at this moment and the actual heading of wave glider subsequent time are that approaching under criterion is
The output of system.
Common least square method, model are：
Z (k)=H (k) θ+e (k)
Wherein H (k) is consistent with θ such as top definition, and z (k) and H (k) is the data that can be observed in formula, and θ is to wait to estimate
Parameter is counted, takes the criterion function to be
Minimization J (θ), tries to achieve the estimate of parameter θ, makes the output of the best forecast system of the output of model.
Assuming that θLSSo that J (θ) |θLS=min, then have
The formula of expansion above, and with two amount differential formulas
A is symmetrical matrix
Obtain regular equation (HL THL)θLS=HL TzL
Work as HL THLWhen being regular matrix, have
AndSo thatIt is unique.
The features of the present invention is embodied in：
(1) structure type of wave glider is considered, i.e. upper float and diving body and be not rigid connection between the two,
During actual motion, both 6DOF forms of motion and turns bow angular speed and is different from respective course angle, both are common
With the movement for determining wave glider entirety.
(2) the kinematical identification system of wave glider is built:During according to the k moment, wave glider upper float and diving body
Respective course angle and turn bow angular speed by the final accounts of kinematical identification system draw optimum estimation subsequent time wave slide
The direction of motion of Xiang device.
(3) build in the kinematical identification system of wave glider, the input of model is multi output, the course comprising upper float
Angle, turns the course angle of bow angular speed and submerged body, turns bow angular speed, and it is that single output i.e. subsequent time wave glider is overall to export
The direction of motion.
(4) in order to obtain more accurate output result it is required that installing two sets of compass on upper float and submerged body respectively,
Respective course angle is obtained in real time and turns bow angular speed.In order to obtain the accurate location of wave glider in real time, pacify on hull
Sensor (weather station or inertial navigation module) of the dress with GPS.
(5) actual heading of the model parameter estimation value, i.e. wave glider subsequent time at k moment is calculated under criterion
Estimate, and update model parameter accordingly, such iteration, until criterion function reaches minimum value.
(6) least square method is a kind of classical data processing method.Under random environment, using least square method not
It is required that the information in terms of data provide its probability statistics is observed, and its estimated result has fairly good statistical property.According to
The basic conception of least square method shows, unknown model parameters most likely value is time and again missing in actual observed value and calculated value
The quadratic sum of difference reaches at minimum value, and obtained this model output may be exported best close to real system.
Claims (1)
1. a kind of wave glider actual heading Forecasting Methodology, it is characterized in that：
(1) GPS carried in itself by wave glider obtains 2 positions of k and k1 moment waves glider, and time interval is
In the sampling period of GPS, when being set in two positions, it is S1 and S2 that displacement, which is respectively, and then obtains 2 displacement S, according to speed
Calculation formula is spent, the ratio of displacement S and Δ t is speed, that is, obtains the direction of motion of whole wave glider, obtains wave cunning
The movement velocity direction of Xiang device；
(2) by respective compass on upper float and submerged body, when obtaining k and during k1 the course angle of upper float and turn bow angular speed and
The course angle of submerged body and turn bow angular speed, be denoted as respectivelyWith
(3) the identification algorithm model of wave glider kinematic system is established, using the method for Step wise approximation at the k moment according to previous
The estimation parameter at moment calculates the output of the output at the model moment, i.e. the identification algorithm model of wave glider kinematic system
Predicted value, while calculate prediction error；
(4) prediction error is fed back in the identification algorithm model of wave glider kinematic system, the k moment is calculated under criterion
Model parameter estimation value, and update model parameter, so iteration continues, until its criterion function reaches minimum value, this moment
Output and wave glider subsequent time actual heading be the approximation system under criterion output.
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| CN109062236A (en) * | 2018-09-01 | 2018-12-21 | 哈尔滨工程大学 | The adaptive floating body bow of wave glider is to control method |
| 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 |
| CN109782774A (en) * | 2019-03-12 | 2019-05-21 | 哈尔滨工程大学 | A kind of yawing response parameter on-line identification method based on integration method |
| CN110703203A (en) * | 2019-10-22 | 2020-01-17 | 哈尔滨工程大学 | Underwater pulsed sound positioning system based on multi-acoustic wave glider |
| CN111212146A (en) * | 2020-01-13 | 2020-05-29 | 天津工业大学 | Wave glider network management system |
| CN111366962A (en) * | 2020-03-12 | 2020-07-03 | 国家深海基地管理中心 | Deep open sea low-cost long-endurance collaborative navigation positioning system |
| CN111994201A (en) * | 2020-07-16 | 2020-11-27 | 李绍安 | Compensation method based on sea wave compensation device |
| CN115973394A (en) * | 2023-03-22 | 2023-04-18 | 中国海洋大学 | Method and device for detecting and untwisting twisting of armored cable of wave glider |
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| CN109062236A (en) * | 2018-09-01 | 2018-12-21 | 哈尔滨工程大学 | The adaptive floating body bow of wave glider is to control method |
| CN109062236B (en) * | 2018-09-01 | 2021-04-20 | 哈尔滨工程大学 | Wave glider self-adaptive floating body heading control method |
| 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 |
| CN109782774A (en) * | 2019-03-12 | 2019-05-21 | 哈尔滨工程大学 | A kind of yawing response parameter on-line identification method based on integration method |
| CN109782774B (en) * | 2019-03-12 | 2021-08-20 | 哈尔滨工程大学 | Integral method based bow response parameter online identification method |
| CN110703203A (en) * | 2019-10-22 | 2020-01-17 | 哈尔滨工程大学 | Underwater pulsed sound positioning system based on multi-acoustic wave glider |
| CN111212146A (en) * | 2020-01-13 | 2020-05-29 | 天津工业大学 | Wave glider network management system |
| CN111366962A (en) * | 2020-03-12 | 2020-07-03 | 国家深海基地管理中心 | Deep open sea low-cost long-endurance collaborative navigation positioning system |
| CN111994201A (en) * | 2020-07-16 | 2020-11-27 | 李绍安 | Compensation method based on sea wave compensation device |
| CN115973394A (en) * | 2023-03-22 | 2023-04-18 | 中国海洋大学 | Method and device for detecting and untwisting twisting of armored cable of wave glider |
| CN115973394B (en) * | 2023-03-22 | 2023-10-20 | 中国海洋大学 | Wave glider armoured cable torsion detection untwisting method and device |
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