CN108427416B - Unmanned ship differential automatic steering control system and control method - Google Patents
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Abstract
The invention provides an unmanned ship differential automatic steering control system, which comprises a navigation system, a speed control system and a speed control system, wherein the navigation system is used for acquiring the information of the position, the course and the speed of an unmanned ship; the display equipment is used for storing expected unmanned ship straight line track parameters and displaying unmanned ship state information; the automatic steering system provided by the invention cancels steering engines at two sides, fixes the propellers around a rotating shaft and a ship body, automatically adjusts the rotating speed difference of the left propeller and the right propeller through a designed control algorithm, and realizes the steering control of the unmanned ship.
Description
Technical Field
The invention relates to the field of data processing, in particular to an unmanned ship differential automatic steering control system and a control method.
Background
With the popularization of GNSS high-precision satellite navigation technology, marine surveying and mapping have become important directions for satellite navigation application, and unmanned ships play an important role in surveying and mapping operations as carrier platforms of marine surveying and mapping equipment such as depth finders and the like. As shown in fig. 1, a conventional unmanned ship power system is composed of a left propulsion propeller, a right propulsion propeller, a left steering engine and a right steering engine, forward power is provided through the propellers, the left propeller and the right propeller are driven by the steering engines to rotate around a rotating shaft, the propulsion direction of the propellers is changed, and steering torque is generated to achieve steering. Steering engines used in many small and medium-sized unmanned ships are often plastic parts, and the steering engines are easily damaged due to gear abrasion in the steering process, so that the reliability of an unmanned ship system is greatly influenced.
Disclosure of Invention
In order to solve the defects, the invention provides an unmanned ship differential automatic steering control system and a control method, which are used for replacing the steering control mode of the traditional steering engine. The automatic steering system provided by the invention cancels steering actuators at two sides, but fixes propellers around a rotating shaft and a ship body, automatically adjusts the rotating speed difference of the left propeller and the right propeller through a designed control algorithm, and realizes steering control of the unmanned ship.
The invention provides an unmanned ship differential automatic steering control system, which comprises a navigation system, a speed control system and a speed control system, wherein the navigation system is used for acquiring the information of the position, the course and the speed of an unmanned ship; the display equipment is used for storing expected unmanned ship straight line track parameters and displaying unmanned ship state information; and the automatic steering controller is used for calculating a control quantity and outputting the control quantity to the electronic speed regulator, and the electronic speed regulator is used for controlling the rotating speed of the propeller motor.
The unmanned ship differential automatic steering control system further comprises a wireless transmission module and a propeller direct current brushless motor, wherein the wireless transmission module is used for acquiring track data of display equipment in a wireless transmission mode, the propeller direct current brushless motor is used for driving propeller blades to rotate, the automatic steering controller is used for calculating a control quantity and outputting the control quantity to an electronic speed regulator in a PWM pulse width signal mode, the navigation system is a navigation system combining GNSS and IMU, and the display equipment is ground station display equipment.
The above unmanned ship differential automatic steering control system, wherein the GNSS and IMU combined navigation system outputs position, course, speed information to the automatic steering controller through a serial port, the ground station display device outputs stored expected trajectory parameters to the automatic steering controller through a wireless transmission module, and the electronic speed regulator regulates the speed of the propeller dc motor.
The invention also provides a differential automatic steering control method for the unmanned ship, which comprises the following steps:
acquiring the position, the course and the speed information of the unmanned ship;
calculating the lateral deviation and the course deviation of the unmanned ship;
establishing a linear kinematics state space model of the unmanned ship;
step (4) calculating a steering control amount;
and (5) calculating the pulse width of the PWM signal.
The method described above, wherein the step (1) specifically includes: receiving satellite navigation signals through a GNSS receiver to obtain higher-precision position and course information, wherein an RTK real-time motion differential positioning technology is required; and measuring the angular speed and acceleration information of the unmanned ship by the IMU, fusing the measured data by a Kalman filtering algorithm, and outputting the position coordinates x and y, the course yaw and the speed v of the unmanned ship after filtering.
The method described above, wherein the step (2) specifically includes: taking a north coordinate system as an x direction, taking an east coordinate system as a y direction, wherein the course of the expected linear track is Dyaw, and the expected linear track equation is as follows:
ax + by + c is 0 (equation 1)
Calculating to obtain the current transverse deviation xt (formula 2) and the current course deviation xh (formula 3) of the unmanned ship according to the real-time unmanned ship position and course information obtained in the step (1) and the expected unmanned ship linear track parameter and the expected course, calculating the linear track parameters a, b and c and the expected course Dyaw by the ground station display equipment, and sending the linear track parameters a, b and c and the expected course Dyaw to the automatic steering controller through the wireless transmission module,
xh ═ Dyaw-yaw (formula 3).
The method described above, wherein the step (3) specifically includes: according to the speed information v of the unmanned ship obtained in the step (1) and the transverse deviation xt and the course deviation xh obtained in the step (2), the transverse deviation xt and the course deviation xh are taken as states to obtain a linear kinematic state space model (a formula 3 and a formula 4) of the unmanned ship, and further obtain a kinematic state matrix A, B, C, D of the unmanned ship, wherein w values in the formulas represent axial distances of propellers on the left side and the right side, and u represents a control quantity of a controller;
d is 0 (formula 9)
And recording Ts as a control period, and obtaining discretization state space matrixes Ad, Bd, Cd and Dd as follows:
cd ═ C (equation 12)
Dd is 0 (formula 13).
The method described above, wherein the step (4) specifically includes: obtaining a control quantity u according to the discretization state space matrixes Ad, Bd, Cd and Dd obtained in the step (3) and the current period transverse deviation xt and the course deviation xh calculated in the step (2) and a calculation formula of an MPC model predictive control algorithm;
constructing matrixes F and G;
solving a control quantity sequence U;
U＝(GTQG+R)-1(GTQ(ref-Fx))(16)；
in the formula, ref is a reference input vector, is a zero vector,
for the current measurement state quantity, Q is a state quantity weight matrix, R is a control quantity weight matrix, Np is a prediction time domain, and Nm is a control time domain; q, R, Np and Nm are both adjustable control parameters; and taking the first element of the U as a control quantity output U.
The method described above, wherein the step (5) specifically includes: according to the control quantity u obtained in the step (4), PWM control signal pulse widths of the left electronic speed regulator and the right electronic speed regulator are obtained through conversion formulas (15) and (16), an automatic steering controller generates PWM signals with corresponding pulse widths, the motor speed regulators control a propeller direct current motor to rotate according to received pulse width changes, a rotating speed difference is formed, advancing and turning thrust of the unmanned ship is provided, and the calculation formula is as follows:
wherein u ismaxCalibrating the maximum propeller rotation speed according to different unmanned ship power conditions; PWMminAnd PWMmaxThe minimum and maximum PWM signal pulse width received by the motor driver is determined by different motor driver receiving signal protocols; PWMInitial valueTo provide PWM component of unmanned ship's forward speed, as requiredThe desired unmanned ship forward speed is determined.
The invention has the following beneficial effects: the automatic steering system provided by the invention cancels steering actuators at two sides, but fixes propellers around a rotating shaft and a ship body, automatically adjusts the rotating speed difference of the left propeller and the right propeller through a designed control algorithm, and realizes steering control of the unmanned ship.
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The invention and its features, aspects and advantages will become more apparent from reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. Like reference symbols in the various drawings indicate like elements. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a schematic view of a steering structure of a conventional unmanned ship steering engine;
FIG. 2a and FIG. 2b are schematic views of the differential automatic steering structure of the unmanned ship in the invention;
FIG. 3 is a schematic view of the unmanned ship for straight line tracking according to the present invention;
FIG. 4 is a schematic diagram of the differential automatic steering control method of the unmanned ship in the invention;
FIG. 5 is a flow chart of the unmanned ship differential automatic steering control algorithm of the invention;
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
Referring to fig. 1-5, the present invention provides a differential automatic steering control system for an unmanned ship, which includes a GNSS and an IMU integrated navigation system for obtaining information such as position, heading and speed of the unmanned ship. And the ground station display equipment is used for storing expected unmanned ship straight line track parameters and displaying unmanned ship state information in real time. And the automatic steering controller is used for calculating a control quantity and outputting the control quantity to the electronic speed regulator in the form of a PWM pulse width signal. And the wireless transmission module is used for acquiring the track data of the ground station display equipment in a wireless transmission mode. And the electronic speed regulator is used for controlling the rotating speed of the propeller motor. And the propeller direct current brushless motor is used for driving the propeller blades to rotate. And the propeller is used for providing unmanned ship thrust. The automatic steering control system also comprises a power supply of the automatic steering control system, a connecting cable and the like.
In the present invention, the interaction between the modules is as follows: the GNSS and IMU combined navigation system outputs information such as position, course, speed and the like to the automatic steering controller through a serial port; the ground station display equipment outputs the stored expected track parameters to the automatic steering controller through the wireless transmission module; the automatic steering controller outputs control quantity to the electronic speed regulator through a PWM signal; the electronic speed regulator regulates the speed of the propeller direct current motor; the propeller direct current motor drives the propeller to rotate to provide power for the unmanned ship. The automatic steering system of the invention cancels steering actuators at two sides, but fixes propellers around a rotating shaft and a ship body, automatically adjusts the rotating speed difference of the left propeller and the right propeller through a designed control algorithm, and realizes the steering control of the unmanned ship.
The working principle of the invention is as follows: as shown in fig. 3, the automatic steering controller obtains the unmanned ship heading, speed, position and other information of the GNSS and IMU integrated navigation system through the serial port, and the expected running track and expected heading information stored in the ground station display device obtained by the wireless transmission module, calculates the steering control quantity according to the information by the automatic control algorithm, and converts the control quantity into the PWM pulse width input signals of the electronic speed regulators of the left and right propeller motors. The electronic speed regulator detects the pulse width of the PWM signal according to the input PWM signal, adjusts the rotating speed of the propeller motor, forms the rotating speed difference of the left and right propellers, further generates steering torque, and automatically controls the unmanned ship to steer along an expected track.
On the other hand, as shown in fig. 5, the unmanned ship automatic steering control method of the present invention can be implemented according to the following specific steps:
step (1): the method for acquiring the position, the course and the speed information of the unmanned ship specifically comprises the following steps:
on one hand, a GNSS receiver receives satellite navigation signals (such as GPS, Galileo, Granass and Beidou navigation system), in order to obtain position and course information with higher precision, an RTK real-time motion differential positioning technology is needed, and on the other hand, an IMU (inertial measurement unit) measures the angular speed and acceleration information of the unmanned ship. And fusing the data through a Kalman filtering algorithm, and outputting the filtered measurement information of the position coordinates x and y, the course yaw, the speed v and the like of the unmanned ship, wherein the position and the course are in a local horizontal plane coordinate system (NED or ENU coordinate system). The output information is output to the automatic steering controller through a serial port.
Step (2): calculating the lateral deviation and the course deviation, and specifically comprising the following steps:
as shown in fig. 2a and fig. 2b, which are schematic diagrams of tracking a straight-line trajectory of an unmanned ship, taking a north coordinate system as an x direction, an east coordinate system as a y direction, where a heading of an expected straight-line trajectory is Dyaw, and an expected straight-line trajectory equation is:
ax + by + c is 0 (equation 1)
And (2) calculating to obtain the current transverse deviation xt (formula 2) and the current course deviation xh (formula 3) of the unmanned ship according to the real-time unmanned ship position and course information obtained in the step (1), the expected unmanned ship linear track parameter and the expected course. The linear track parameters a, b and c and the expected heading Dyaw are calculated by the ground station display equipment and are sent to the automatic steering controller through the wireless transmission module;
xh ═ Dyaw-yaw (equation 3)
And (3): calculating a discrete system state space equation matrix, specifically comprising:
and (3) according to the speed information v of the unmanned ship obtained in the step (1) and the transverse deviation xt and the course deviation xh obtained in the step (2), taking the transverse deviation xt and the course deviation xh as states to obtain a linear kinematic state space model (a formula 3 and a formula 4) of the unmanned ship, and further obtaining a kinematic state matrix A, B, C, D of the unmanned ship, wherein the w value in the formula represents the axial distance of the propellers on the left and right sides, and the u represents the control quantity of the controller.
D is 0 (formula 9)
And recording Ts as a control period, and obtaining discretization state space matrixes Ad, Bd, Cd and Dd as follows:
cd ═ C (equation 12)
Dd is 0 (formula 13).
And (4): calculating a steering control quantity, specifically comprising:
and (3) obtaining a control quantity u according to the discretization state space matrixes Ad, Bd, Cd and Dd obtained in the step (3) and the current period transverse deviation xt and the course deviation xh calculated in the step (2) and a calculation formula of an MPC model predictive control algorithm.
Construction matrices F and G
Solving the sequence of control quantities U
U＝(GTQG+R)-1(GTQ(ref-Fx))(16)
In the formula, ref is a reference input vector, is a zero vector,
for the current measurement state quantity, Q is a state quantity weight matrix, R is a control quantity weight matrix, Np is a prediction time domain, and Nm is a control time domain; q, R, Np and Nm are both adjustable control parameters; and taking the first element of the U as a control quantity output U.
And (5): calculating the pulse width of the PWM signal specifically comprises the following steps:
and (4) according to the control quantity u obtained in the step (4), converting formulas (15) and (16) to obtain PWM control signal pulse widths of the left and right electronic speed regulators, and generating PWM signals with corresponding pulse widths by the automatic steering controller. The motor speed regulator controls the propeller direct current motor to rotate according to the received pulse width change, so that a rotation speed difference is formed, and advancing and turning thrust of the unmanned ship is provided. The calculation formula is as follows:
wherein u ismaxCalibrating the maximum propeller rotation speed according to different unmanned ship power conditions; PWMminAnd PWMmaxThe minimum and maximum PWM signal pulse width received by the motor driver is determined by different motor driver receiving signal protocols; PWMInitial valueAnd determining the PWM component for providing the advancing speed of the unmanned ship according to the required advancing speed of the unmanned ship.
In the present invention, as shown in fig. 4, the unmanned ship automatic steering control method of the present invention is characterized as follows: the control method is based on a control algorithm of measurement negative feedback, and comprises the steps of calculating the difference value between an expected value and a feedback value, namely a control error, wherein the error comprises a transverse deviation and a course deviation, and bringing the control error into a controller to calculate a control quantity; the control method is based on a control algorithm of an unmanned ship kinematics model, a state space model in a modern control theory is used in the algorithm, and a control quantity is obtained through MPC model predictive control solution; the output signals of the automatic steering controller and the electronic speed regulator of the automatic steering system are PWM signals, and the transmission control quantity is represented by PWM pulse width; the electronic speed regulator has a positive and negative rotation function, when an input signal is in a maximum pulse width, the propeller motor generates a maximum positive rotation speed, and when the pulse width of the input signal is a minimum value, the propeller motor generates a maximum reverse rotation speed; the control method has two paths of PWM pulse width signal outputs, and the PWM pulse width signals obtained by converting the control quantity are decomposed to the electronic speed regulators on the left side and the right side. When the left propeller motor accelerates, the right propeller motor decelerates, and the unmanned ship turns to the right; when the left propeller motor decelerates, the right propeller motor accelerates, and the unmanned ship turns left; when the rotating speeds of the propeller motors on the two sides are the same, the unmanned ship does not turn. The two side propeller motors may rotate in the same direction or in opposite directions.
In the invention, as shown in fig. 2b, the unmanned ship differential automatic steering system provided by the invention consists of a GNSS and IMU combined navigation system, a ground station display device, an automatic steering controller, a wireless transmission module, an electronic speed regulator, a propeller motor, a propeller, an auxiliary power supply and a connecting cable; the GNSS and IMU combined navigation system can receive signals of a GPS, Galileo, Granass, Beidou and other satellite navigation systems, real-time positioning accuracy is improved by using an RTK technology, satellite navigation data and IMU data are fused by a Kalman filtering algorithm to obtain more accurate position, speed and course information of the unmanned ship, and the data information is sent to the automatic steering controller through a serial port; the ground station display equipment is used for displaying the actual position, speed and course information of the unmanned ship, storing an expected motion track parameter and an expected course, and sending data to the automatic steering controller through the wireless transmission module; the automatic steering controller calculates the transverse deviation and the course deviation of the unmanned ship and the expected track according to the received current position and the course of the unmanned ship, as well as the expected track parameter and the course data, establishes a state space model of the unmanned ship, updates a state space matrix, brings the transverse deviation, the course deviation and the state matrix into an MPC control algorithm to calculate the steering control quantity of the unmanned ship, finally converts the steering control quantity into PWM control signals with certain pulse width and input by electronic speed regulators at the left side and the right side, adjusts the speed of a propeller motor, forms the rotating speed difference of propellers at the left side and the right side, and automatically controls the steering of the unmanned ship.
In the invention, as shown in fig. 3, in the unmanned ship automatic steering control method, the transverse deviation and the course deviation are calculated by the unmanned ship real-time position, course, an expected linear trajectory equation and an expected course according to the formula; as shown in fig. 4, the method for controlling differential automatic steering of an unmanned ship provided by the present invention is based on a negative feedback MPC control algorithm, and the controlled measurement data is derived from the unmanned ship position and heading data measured by the GNSS and IMU integrated navigation system. The control error is a transverse deviation xt and a course deviation xh which are calculated through an expected motion track planned by ground station display equipment and the measurement information; as shown in FIG. 5, the calculation process of the unmanned ship differential automatic steering control method provided by the invention is that GNSS and IMU combined navigation data are obtained firstly, then expected track data stored by ground station display equipment are obtained, a system discrete state space matrix model is updated according to the data and the current control period, then a state matrix, lateral deviation and course deviation are substituted into an MPC control algorithm to solve the control quantity, and finally the solved control quantity is converted into the input PWM signal pulse width of the electronic speed regulators at the left side and the right side according to a calculation formula to control the rotating speed of a propeller motor.
In a preferred but non-limiting embodiment of the invention, the propeller motor is directly connected to the hull without turning the propeller.
In a preferred but non-limiting embodiment of the invention, the propeller motors are included, one on each side, and are mounted symmetrically about the centerline of the hull.
In a preferred but non-limiting embodiment of the present invention, the automatic steering controller and the electronic speed regulators transmit control quantity through PWM signals, the PWM signal pulse width represents the magnitude of the control quantity, further preferably, the automatic steering controller has two PWM pulse width signals respectively controlling the left and right electronic speed regulators, and further preferably, the two PWM pulse width signals have two PWM pulse width signals, when the unmanned ship turns left, the right PWM pulse width is greater than the left PWM pulse width, when the unmanned ship turns right, the left PWM pulse width is greater than the right PWM pulse width, and when the unmanned ship does not turn, the left PWM pulse widths are equal.
In a preferred but non-limiting embodiment of the present invention, the GNSS and IMU integrated navigation system and the automatic steering controller perform data transmission through a serial port, and the ground station display device and the automatic steering controller perform data transmission through a wireless transmission module, and further preferably, the ground station display device and the automatic steering controller may be WIFI, a bluetooth module, or wireless data transmission through the wireless transmission module.
In a preferred but nonlimiting embodiment of the present invention, the lateral deviation and heading deviation of the data input by the automatic steering controller are calculated from the expected trajectory and heading parameters sent from the ground station display device and the actual measured position and heading input by the GNSS and IMU combined navigation according to the calculation formula of the present invention.
In a preferred but non-limiting embodiment of the present invention, the automatic steering controller establishes a state space model of the unmanned ship system according to the speed information provided by the GNSS and IMU integrated navigation system, and calculates the discrete state space matrix models Ad, Bd, Cd, Dd according to the formula of the present invention.
In a preferred but non-limiting embodiment of the present invention, the control quantity is calculated from an MPC control algorithm based on the state space matrix, the lateral bias, the heading bias and the discrete state space matrix.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (4)
1. The differential automatic steering control method of the unmanned ship is characterized by comprising the following steps of:
acquiring the position, the course and the speed information of the unmanned ship;
calculating the lateral deviation and the course deviation of the unmanned ship;
establishing a linear kinematics state space model of the unmanned ship;
step (4) calculating a steering control amount;
and (5) calculating the pulse width of the PWM signal, wherein the step (1) specifically comprises the following steps: receiving satellite navigation signals through a GNSS receiver to obtain higher-precision position and course information, wherein an RTK real-time motion differential positioning technology is required; and measuring the angular velocity and acceleration information of the unmanned ship by the IMU, fusing the measured data by a Kalman filtering algorithm, and outputting filtered position coordinates x and y, a course yaw and a velocity v of the unmanned ship, wherein the step (2) specifically comprises the following steps: taking a north coordinate system as an x direction, taking an east coordinate system as a y direction, wherein the course of the expected linear track is Dyaw, and the expected linear track equation is as follows:
ax + by + c is 0 (equation 1)
Calculating to obtain the current transverse deviation xt (formula 2) and the current course deviation xh (formula 3) of the unmanned ship according to the real-time unmanned ship position and course information obtained in the step (1) and the expected unmanned ship linear track parameter and the expected course, calculating the linear track parameters a, b and c and the expected course Dyaw by the ground station display equipment, and sending the linear track parameters a, b and c and the expected course Dyaw to the automatic steering controller through the wireless transmission module,
xh — Dyaw-yaw (equation 3), where a, b, and c are standard equation coefficients of a straight line calculated from 2 point position coordinates: a x + b y + c is 0, and (x, y) is the positioning coordinate.
2. The unmanned ship differential automatic steering control method according to claim 1, wherein the step (3) specifically comprises: according to the speed information v of the unmanned ship obtained in the step (1) and the transverse deviation xt and the course deviation xh obtained in the step (2), the transverse deviation xt and the course deviation xh are taken as states to obtain a linear kinematic state space model (a formula 3 and a formula 4) of the unmanned ship, and further obtain a kinematic state matrix A, B, C, D of the unmanned ship, wherein w values in the formulas represent axial distances of propellers on the left side and the right side, and u represents a control quantity of a controller;
d is 0 (formula 9)
And recording Ts as a control period, and obtaining discretization state space matrixes Ad, Bd, Cd and Dd as follows:
cd ═ C (equation 12)
Dd is 0 (formula 13).
3. The unmanned ship differential automatic steering control method according to claim 2, wherein the step (4) specifically comprises: obtaining a control quantity u according to the discretization state space matrixes Ad, Bd, Cd and Dd obtained in the step (3) and the current period transverse deviation xt and the course deviation xh calculated in the step (2) and a calculation formula of an MPC model predictive control algorithm;
constructing matrixes F and G;
solving a control quantity sequence U;
U＝(GTQG+R)-1(GTQ(ref-Fx)) (16)；
in the formula, ref is a reference input vector, is a zero vector,
for the current measurement state quantity, Q is a state quantity weight matrix, R is a control quantity weight matrix, Np is a prediction time domain, and Nm is a control time domain; q, R, Np and Nm are both adjustable control parameters; and taking the first element of the U as a control quantity output U.
4. The unmanned ship differential automatic steering control method according to claim 3, wherein the step (5) specifically comprises: according to the control quantity u obtained in the step (4), PWM control signal pulse widths of the left electronic speed regulator and the right electronic speed regulator are obtained through conversion formulas (15) and (16), an automatic steering controller generates PWM signals with corresponding pulse widths, the motor speed regulators control a propeller direct current motor to rotate according to received pulse width changes, a rotating speed difference is formed, advancing and turning thrust of the unmanned ship is provided, and the calculation formula is as follows:
wherein u ismaxCalibrating the maximum propeller rotation speed according to different unmanned ship power conditions;
PWMminand PWMmaxThe minimum and maximum PWM signal pulse width received by the motor driver is determined by different motor driver receiving signal protocols; PWMInitial valueAnd determining the PWM component for providing the advancing speed of the unmanned ship according to the required advancing speed of the unmanned ship.
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