CN108646766A - A kind of safe tracking of unmanned boat based on Collaborative Control and tracking system - Google Patents
A kind of safe tracking of unmanned boat based on Collaborative Control and tracking system Download PDFInfo
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Abstract
The present invention relates to a kind of safe tracking of unmanned boat based on Collaborative Control and tracking systems, and this approach includes the following steps：The tracking enabling signal that control centre sends is issued unmanned boat data processing module by unmanned boat communication module；Unmanned boat data processing module controls the tracking communication channel between the foundation of unmanned boat communication module and object ship communication module；Real-time target ship movement parameter is sent to unmanned boat data processing module by object ship locating module by tracking communication channel；Unmanned boat data processing module obtains unmanned boat according to the unmanned boat beginning parameter transform model that target ship movement parameter and unmanned boat locating module are beamed back and controls signal, and is sent to the distant control module of unmanned boat；The distant control module of unmanned boat controls the pursuit path that signal adjusts unmanned boat in real time according to unmanned boat.The tracking and tracking system of the present invention can realize barrier avoiding function and in real time adjustment speed of a ship or plane course flight path.
Description
Technical field
The present invention relates to aircraft automatic tracking technology field more particularly to a kind of unmanned boat safety based on Collaborative Control
Tracking and tracking system.
Background technology
Unmanned boat is a kind of unattended surface ship, since it is excellent with small, at low cost, simple operation etc.
Point has become a big hot spot of unmanned vehicle area research, by the attention in terms of various countries' ocean research.And it cooperates with autonomous
Navigation control is one of the core technology that unmanned boat is different from that someone manipulates ship.In cooperateing with paleocinetic control problem,
Practical and effective control algolithm is the key that unmanned boat platform completes complicated navigational duty in various uncertain aquatic environments.
The key technology of unmanned boat cooperative control method has at 2 points：
First, it is divided into two kinds of situations in collaboration navigation：When unmanned boat distance objective ship is closer, need to do avoidance processing；
Unmanned boat at a distance from object ship be more than avoidance apart from when, according to synergetic carry out normal navigation track object ship,
Second, in Collaborative Control, except pair at a distance from object ship and in addition to opposite angle on the bow controls, also at any time to speed
Adjust, i.e., accelerate and moderating process in adjust, to avoid due to velocity variations are excessive or variation not in time, lead to not with
Track object ship.
Currently, course heading control method is to utilize traditional PID Collaborative Control algorithms, course holding is used as and automatically controls mesh
Mark, enables ship to follow given course automatically, or course is included in the range of autonomous control, carries out closed-loop control, but right
Speed of a ship or plane control is not autonomous not in time, adjusting autonomous in time cannot be carried out to the speed of a ship or plane, and less to avoidance situation independent analysis, easily
Cause control not accurate not in time.
Therefore, it is badly in need of providing a kind of safe tracking of unmanned boat based on Collaborative Control and tracking system.
Invention content
In view of the above problems, it is proposed that the present invention overcoming the above problem in order to provide one kind or solves at least partly
The safe tracking of the unmanned boat based on Collaborative Control and tracking system of problem are stated, the tracking and tracking system can be real
When calculate actual range between unmanned boat and object ship, once the actual range is less than pre-determined distance threshold value, make unmanned boat
Avoid object ship in time.
According to an aspect of the present invention, the safe tracking of the unmanned boat provided by the invention based on Collaborative Control, packet
Include following steps：The tracking enabling signal that control centre sends is issued unmanned boat data processing module by unmanned boat communication module；
Unmanned boat data processing module controls the tracking communication channel between the foundation of unmanned boat communication module and object ship communication module；Mesh
Real-time target ship movement parameter is sent to unmanned boat data processing module by mark ship positionning module by tracking communication channel；Nothing
People's ship data processing module is obtained according to the unmanned boat beginning parameter transform model that target ship movement parameter and unmanned boat locating module are beamed back
Signal is controlled to unmanned boat, and is sent to the distant control module of unmanned boat；The distant control module of unmanned boat controls signal according to unmanned boat
The pursuit path of adjustment unmanned boat in real time.
Further, the nothing that unmanned boat data processing module is beamed back according to target ship movement parameter and unmanned boat locating module
Unmanned boat control signal is calculated in people's ship movement parameter, including：The kinematic parameter and solution of real-time reception unmanned boat and object ship
The position data of unmanned boat and object ship is precipitated；Unmanned boat and target are calculated in real time according to the position data of unmanned boat and object ship
Actual range between ship；It receives the actual range and is compared with pre-determined distance threshold value；It is preset when the actual range is less than
When distance threshold, the actual angle between unmanned boat and object ship is calculated；The setting boat of unmanned boat is calculated according to the actual angle
To and be sent to the distant TT＆C system of unmanned boat；When the relative distance is more than pre-determined distance threshold value, unmanned boat and object ship are judged
Between relative position or opposite angle on the bow whether change；It is concurrent according to whether relative position or opposite angle on the bow change establishment way point
It send to the distant TT＆C system of unmanned boat.
Further, the nothing that unmanned boat data processing module is beamed back according to target ship movement parameter and unmanned boat locating module
Unmanned boat control signal is calculated in people's ship movement parameter, further includes：Real time parsing unmanned boat speed through water and unmanned boat course
Difference；Calculate the desired speed of unmanned boat according to unmanned boat speed through water and unmanned boat heading crossing angle, and by the desired speed of unmanned boat
It is sent to the distant TT＆C system of unmanned boat, to adjust the speed of unmanned boat in real time.
Further, the safe tracking of the unmanned boat based on Collaborative Control further includes：Object ship locating module will
Real-time target ship movement parameter is sent to control centre.
Further, it is calculated by the following formula the desired speed of unmanned boat：
Wherein, veFor the desired speed of unmanned boat, unit kn, vtFor object ship speed, unit kn, s0For object ship
Actual range between unmanned boat, unit are v in the seawFor unmanned boat advance speed through water, unit kn, Δ θ4For unmanned boat
Heading crossing angle, unit are °.
Further, the setting course of unmanned boat is calculated according to the actual angle by following formula：
Wherein, θ4For set course, unit be °, θ3For object ship course made good, unit is ° that Δ θ is object ship and unmanned boat
Relative angle, unit be °.
According to an aspect of the present invention, the unmanned boat security tracking systems provided by the invention based on Collaborative Control, packet
It includes：Unmanned boat communication module, the tracking enabling signal for sending control centre issue unmanned boat data processing module；Nobody
Ship data processing module, for controlling the tracking communication channel between the foundation of unmanned boat communication module and object ship communication module；
Real-time target ship movement parameter is sent to unmanned boat data processing by object ship locating module for passing through tracking communication channel
Module；Unmanned boat data processing module, the unmanned shipping for being beamed back according to target ship movement parameter and unmanned boat locating module
Unmanned boat control signal is calculated in dynamic parameter, and is sent to the distant control module of unmanned boat；The distant control module of unmanned boat is used for root
Adjust the pursuit path of unmanned boat in real time according to unmanned boat control signal.
Further, unmanned boat data processing module includes：Kinematic parameter resolution unit, for real-time reception unmanned boat and
The kinematic parameter of object ship and the position data for parsing unmanned boat and object ship；Actual distance calculation unit, for according to nothing
The position data of people's ship and object ship calculates the actual range between unmanned boat and object ship in real time；Distance comparison unit is used for
It receives the actual range and is compared with pre-determined distance threshold value；Actual angle computing unit is less than for working as the actual range
When pre-determined distance threshold value, the actual angle between unmanned boat and object ship is calculated；Course computing unit is set, for according to the reality
The setting course of border angle calculation unmanned boat is simultaneously sent to the distant TT＆C system of unmanned boat；Relative position changes judging unit, is used for
When the relative distance is more than pre-determined distance threshold value, judge whether the relative position between unmanned boat and object ship changes；Relatively
Angle on the bow changes judging unit, for when the relative distance is more than pre-determined distance threshold value, judging between unmanned boat and object ship
Whether opposite angle on the bow changes；Way point creating unit, for whether changing establishment way point according to relative position or opposite angle on the bow
And it is sent to the distant TT＆C system of unmanned boat.
Further, the unmanned boat security tracking systems based on Collaborative Control further include：Unmanned boat photographic device,
For acquiring unmanned ship movement parameter in real time；Wherein, unmanned boat communication module is additionally operable to unmanned ship movement parameter real-time Transmission
To object ship so that object ship adjusts ship trajectory in time.
Further, unmanned boat data processing module further includes：Desired speed computing unit is used for according to unmanned boat to water
Speed and unmanned boat heading crossing angle calculate the desired speed of unmanned boat, and the desired speed of unmanned boat is sent to unmanned boat telemetering control
System, to adjust the speed of unmanned boat in real time, wherein kinematic parameter resolution unit is additionally operable to real time parsing unmanned boat to water speed
Degree and unmanned boat heading crossing angle.
The present invention has the following advantages that compared with prior art：
1. the tracking and tracking system of the present invention calculate unmanned boat and mesh in real time by actual distance calculation unit
The actual range between ship is marked, and actual range and pre-determined distance threshold value are compared by distance comparison unit, once it should
Actual range is less than pre-determined distance threshold value, and the adjustment in course is carried out to unmanned boat, to avoid object ship, realizes safety tracking；
2. the tracking and tracking system of the present invention by desired speed computing unit according to unmanned boat speed through water and
Unmanned boat heading crossing angle calculates the desired speed of unmanned boat in real time, in real time adjust unmanned boat the speed of a ship or plane, with object ship
Keep stable tracking mode.
Description of the drawings
Below in conjunction with drawings and examples, the invention will be further described.
Fig. 1 is the safe tracking flow chart of the unmanned boat based on Collaborative Control of the present invention；
Fig. 2 is the unmanned boat data processing module operation principle flow chart of the present invention；
Fig. 3 is the unmanned boat security tracking systems block diagram based on Collaborative Control of the present invention；
Fig. 4 is the unmanned boat data processing module block diagram of the present invention；
Fig. 5 is the unmanned boat security tracking systems schematic diagram based on Collaborative Control of the present invention.
In the accompanying drawings, 1- object ships application station, 2- control center interchangers, 3- unmanned boats and boat-carrying mission payload are answered
With platform, 4- control centres Beidou communication link, 5- control centres defend logical communication link, and 6- object ships defend logical communication link, 7- without
People's ship Beidou communication link, 8- targets ship position and course distributor, the 9- object ship network switch, 10- object ships video with
Data short-range transmission system, 11- unmanned boats video and data short-range transmission system, 12- cameras, 13- command and control modules,
14- camera cradle heads, 15- boat-carrying mission payloads, the distant TT＆C system of 16- unmanned boats, the unmanned hulls of 17-.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that is used in the specification of the present invention arranges
It refers to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or addition to take leave " comprising "
Other one or more features, integer, step, operation, element, component and/or their group.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless by specific definitions, otherwise will not be explained with the meaning of idealization or too formal.
Fig. 1 is the safe tracking flow chart of the unmanned boat based on Collaborative Control of the present invention, as shown in Figure 1, of the invention
The safe tracking of the unmanned boat based on Collaborative Control provided, includes the following steps：Unmanned boat communication module is by control centre
The tracking enabling signal of transmission issues unmanned boat data processing module；Unmanned boat data processing module controls unmanned boat communication module
Establish the tracking communication channel between object ship communication module；Object ship locating module will be real-time by tracking communication channel
Target ship movement parameter is sent to unmanned boat data processing module；Unmanned boat data processing module according to target ship movement parameter and
The unmanned boat beginning parameter transform model that unmanned boat locating module is beamed back obtains unmanned boat control signal, and is sent to unmanned boat telemetering control
Module；The distant control module of unmanned boat controls the pursuit path that signal adjusts unmanned boat in real time according to unmanned boat.Wherein, target shipping
Dynamic parameter and unmanned ship movement parameter include the underway speed of ship, course, position etc..
Fig. 2 is the unmanned boat data processing module operation principle flow chart of the present invention, as shown in Fig. 2, at unmanned boat data
Reason module obtains unmanned boat control according to the unmanned boat beginning parameter transform model that target ship movement parameter and unmanned boat locating module are beamed back
Signal processed, including：The kinematic parameter of real-time reception unmanned boat and object ship and the position data for parsing unmanned boat and object ship；
Calculate the actual range between unmanned boat and object ship in real time according to the position data of unmanned boat and object ship；Receive the reality away from
It is compared from and with pre-determined distance threshold value；When the actual range is less than pre-determined distance threshold value, unmanned boat and object ship are calculated
Between actual angle；The setting course of unmanned boat is calculated according to the actual angle and is sent to the distant TT＆C system of unmanned boat；When
When the relative distance is more than pre-determined distance threshold value, judge whether the relative position between unmanned boat and object ship or opposite angle on the bow become
Change；Whether changed according to relative position or opposite angle on the bow and creates way point and be sent to the distant TT＆C system of unmanned boat.The present invention's
Tracking calculates the actual range between unmanned boat and object ship by actual distance calculation unit in real time, and passes through distance
Comparing unit is compared actual range and pre-determined distance threshold value, once the actual range is less than pre-determined distance threshold value, to nothing
People's ship carries out the adjustment in course, to avoid object ship, realizes safety tracking.
Unmanned boat data processing module is moved according to the unmanned boat that target ship movement parameter and unmanned boat locating module are beamed back
Unmanned boat control signal is calculated in parameter, further includes：Real time parsing unmanned boat speed through water and unmanned boat heading crossing angle；According to nothing
People's ship speed through water and unmanned boat heading crossing angle calculate the desired speed of unmanned boat, and the desired speed of unmanned boat is sent to nobody
The distant TT＆C system of ship, to adjust the speed of unmanned boat in real time.The present invention tracking by desired speed computing unit according to
Unmanned boat speed through water and unmanned boat heading crossing angle calculate the desired speed of unmanned boat in real time, to adjust unmanned boat in real time
The speed of a ship or plane, to keep stable tracking mode with object ship.
The safe tracking of the unmanned boat based on Collaborative Control further includes：By unmanned ship movement parameter real-time Transmission
To object ship so that object ship adjusts ship trajectory in time.By the way that unmanned ship movement parameter is real in the tracking of the present invention
When be transmitted to object ship, object ship can in case of emergency adjust the ship trajectory of itself, further ensure nobody in time
The avoidance of ship.
The safe tracking of the unmanned boat based on Collaborative Control further includes：Object ship locating module is by real-time mesh
Mark ship movement parameter is sent to control centre.By object ship locating module by real-time object ship in the tracking of the present invention
Kinematic parameter is sent to control centre so that when the data-transmission interruptions between object ship and unmanned boat, control centre can
The target ship movement parameter of reception is sent to unmanned boat, is that double shield is arranged in the acquisition of target ship movement parameter.
It is calculated by the following formula the desired speed of unmanned boat：
Wherein, veFor the desired speed of unmanned boat, unit kn, vtFor object ship speed, unit kn, s0For object ship
Actual range between unmanned boat, unit are v in the seawFor unmanned boat advance speed through water, unit kn, Δ θ4For unmanned boat
Heading crossing angle, unit are °.
The setting course of unmanned boat is calculated according to the actual angle by following formula：
Wherein, θ4For set course, unit be °, θ3For object ship course made good, unit is ° that Δ θ is object ship and unmanned boat
Relative angle, unit be °.
Whether changed in establishment way point according to relative position or opposite angle on the bow described, when relative position or opposite angle on the bow
Two way points are created when variation；Four way points are created when relative position or opposite angle on the bow do not change.
Fig. 3 is the unmanned boat security tracking systems block diagram based on Collaborative Control of the present invention, as shown in figure 3, the present invention carries
The unmanned boat security tracking systems based on Collaborative Control supplied, including：Unmanned boat communication module, for send control centre
Tracking enabling signal issues unmanned boat data processing module；Unmanned boat data processing module, for controlling unmanned boat communication module
Establish the tracking communication channel between object ship communication module；Object ship locating module, will for passing through tracking communication channel
Real-time target ship movement parameter is sent to unmanned boat data processing module；Unmanned boat data processing module, for according to target
The unmanned boat beginning parameter transform model that ship movement parameter and unmanned boat locating module are beamed back obtains unmanned boat control signal, and is sent to
The distant control module of unmanned boat；The distant control module of unmanned boat, for controlling the tracking that signal adjusts unmanned boat in real time according to unmanned boat
Track.
Fig. 4 is the unmanned boat data processing module block diagram of the present invention, as shown in figure 4, unmanned boat data processing module includes：
Kinematic parameter resolution unit for the kinematic parameter of real-time reception unmanned boat and object ship and parses unmanned boat and object ship
Position data；Actual distance calculation unit, for calculating unmanned boat and mesh in real time according to the position data of unmanned boat and object ship
Mark the actual range between ship；Distance comparison unit, for receiving the actual range and being compared with pre-determined distance threshold value；It is real
Border angle calculation unit, for when the actual range is less than pre-determined distance threshold value, calculating the reality between unmanned boat and object ship
Border angle；Course computing unit is set, the setting course for calculating unmanned boat according to the actual angle is simultaneously sent to unmanned boat
Distant TT＆C system；Relative position changes judging unit, for when the relative distance is more than pre-determined distance threshold value, judging unmanned boat
Whether the relative position between object ship changes；Opposite angle on the bow changes judging unit, for when the relative distance is more than default
When distance threshold, judge whether the opposite angle on the bow between unmanned boat and object ship changes；Way point creating unit, for according to phase
Whether position or opposite angle on the bow are changed and creates way point and is sent to the distant TT＆C system of unmanned boat.
The unmanned boat security tracking systems based on Collaborative Control further include：Unmanned boat photographic device, for adopting in real time
Collect unmanned ship movement parameter；Wherein, unmanned boat communication module is additionally operable to unmanned ship movement parameter real-time Transmission to object ship,
So that object ship adjusts ship trajectory in time.
Unmanned boat data processing module further includes：Desired speed computing unit, for according to unmanned boat speed through water and nothing
People's ship heading crossing angle calculates the desired speed of unmanned boat, and the desired speed of unmanned boat is sent to the distant TT＆C system of unmanned boat, with
The speed of adjustment unmanned boat in real time, wherein kinematic parameter resolution unit is additionally operable to real time parsing unmanned boat speed through water and nobody
Ship heading crossing angle.
In way point creating unit, two way points are created when relative position or opposite angle on the bow variation；When opposite position
It sets or creates four way points when not changing with respect to angle on the bow.When the relative distance of unmanned boat and object ship is more than the avoidance of unmanned boat
Apart from when, unmanned boat enters non-avoidance pattern, i.e., conventional collaboration navigation control.It is according to relative bearing of the object ship away from unmanned boat
It is no to change, it is divided into two kinds of computational methods.The main distinction of two methods is that the way point quantity calculated is different, when opposite
When orientation does not change, latter two virtual way point of calculating prevents course bounce excessive for going as course.Finally use flight path
Control method obtains helm order.
Kinematic parameter resolution unit includes unmanned ship movement parameter resolution unit and target ship movement parameter resolution unit.
Embodiment
Fig. 5 is the unmanned boat security tracking systems schematic diagram based on Collaborative Control of the present invention, as shown in figure 5, of the invention
The unmanned boat security tracking systems based on Collaborative Control include：Control centre, unmanned boat and the mesh of mutual signal connection
Mark ship, wherein unmanned boat communication module includes unmanned boat Beidou communication link 7 and unmanned boat video and data short-range transmission system
11, object ship communication module includes that object ship defends logical communication link 6 and object ship video and data short-range transmission system 10, nobody
Ship data processing module is command and control module 13, and unmanned boat data processing module, which is used for the movement to unmanned boat and object ship, joins
Number is parsed, and obtaining unmanned boat control signal data according to the beginning parameter transform model after parsing is sent to unmanned boat telemetering control system
System, makes its track be adjusted in real time with object ship to control unmanned boat, and therefore, control centre includes object ship application station 1, control
Central site network interchanger 2, unmanned boat and boat-carrying mission payload application station 3, control centre's Beidou communication link 4, control centre defend
The equipment composition such as logical communication link 5, each equipment room are interconnected by control center interchanger 2, form data transmission local
Net, command and control module 13 include that (it includes unmanned ship movement parameter resolution unit and target shipping to kinematic parameter resolution unit
Dynamic Parameter analysis of electrochemical unit), actual distance calculation unit, distance comparison unit, actual angle computing unit, setting course calculate it is single
Member, relative position variation judging unit, opposite angle on the bow variation judging unit and way point creating unit；Unmanned boat includes unmanned boat
Body 17, unmanned boat Beidou communication link 7, command and control module 13, the distant TT＆C system 16 of unmanned boat, unmanned boat video and data are close
The equipment such as journey transmission module 11, camera 12, camera cradle head 14, boat-carrying mission payload 15 form；Object ship includes target accommodation
It sets and course distributor 8, the object ship network switch 9 and object ship video and the composition of data short-range transmission module 10.In control
The heart is connect with unmanned boat by respective Beidou communication link communication, and control centre defends logical communication chain with object ship by respective
Road communicates to connect, and unmanned boat is communicated to connect with object ship by respective video and data short-range transmission module.
The operation principle of the unmanned boat security tracking systems based on Collaborative Control of the present invention is as follows：
The unmanned ship movement parameter that is sent using unmanned boat and boat-carrying mission payload application station real-time reception unmanned boat and
And the target ship movement parameter sent using object ship application station real-time reception object ship, it is utilized respectively unmanned boat and boat-carrying task
Load application platform and object ship application station send control model according to unmanned ship movement parameter and target ship movement parameter and start letter
Number, such as the tracking enabling signal under Collaborative Control；
The target shipping sent using the unmanned ship movement parameter of command and control module real-time reception and object ship of unmanned boat
Dynamic parameter；
Using target ship movement parameter resolution unit real-time reception object ship kinematic parameter and parse the position of object ship
It sets data and using the kinematic parameter of unmanned ship movement parameter resolution unit real-time reception unmanned boat and parses the position of unmanned boat
Set data.
Target ship movement parameter is sent to control centre and unmanned boat by object ship simultaneously so that when object ship and unmanned boat
Between data-transmission interruptions when, the target ship movement parameter of reception can be sent to unmanned boat by control centre, be object ship
Double shield is arranged in the acquisition of kinematic parameter.
Unmanned boat and target are calculated according to the position data of unmanned boat and object ship in real time using actual distance calculation unit
Actual range between ship, formula are as follows：
Wherein, s0Actual range between object ship and unmanned boat, unit are (x in the sea1, y1) be unmanned boat longitude and latitude
Degree, (x2, y2) be object ship longitude and latitude.
The actual range is received using distance comparison unit and is compared with pre-determined distance threshold value, for example, pre-determined distance
Threshold value could be provided as 60m.
Using actual angle computing unit when the actual range is less than pre-determined distance threshold value, unmanned boat and object ship are calculated
Between actual angle and using setting course computing unit according to the actual angle calculate unmanned boat setting course and limit
The speed of a ship or plane will set course and limit the speed of a ship or plane and be sent to the distant TT＆C system execution of unmanned boat, while meter in real time in 5kn in 5kn
Calculate the desired speed of unmanned boat, wherein the calculation formula for setting course is as follows：
Wherein, θ4For set course, unit be °, θ3For object ship course made good, unit is ° that Δ θ is object ship and unmanned boat
Relative angle, unit be °.θ3It is obtained by target ship movement parameter resolution unit,
The calculation formula of the desired speed of unmanned boat is as follows：
Wherein, veFor the desired speed of unmanned boat, unit kn, vtFor object ship speed, unit kn, s0For object ship
Actual range between unmanned boat, unit are v in the seawFor unmanned boat advance speed through water, unit kn, Δ θ4For unmanned boat
Heading crossing angle, unit are °.The tracking of the present invention is when unmanned boat accelerates and slows down, by increasing unmanned boat and object ship
This decision condition of relative distance realizes the reasonable adjusting to the speed of a ship or plane, avoids acceleration or deceleration excessive, can not object ship.
Using relative position variation judging unit when the relative distance is more than pre-determined distance threshold value, unmanned boat and mesh are judged
Whether the relative position between mark ship changes and change judging unit using opposite angle on the bow is more than pre-determined distance in the relative distance
When threshold value, judge whether the opposite angle on the bow between unmanned boat and object ship changes.
Whether changed according to relative position or opposite angle on the bow using way point creating unit and creates way point and be sent to nothing
The distant TT＆C system of people's ship, detailed process are as follows：
Work as s1≠s2Or △ θ1≠△θ2, s1It is last moment unmanned boat at a distance from object ship, s2For current time nobody
Ship is at a distance from object ship, △ θ1For the angle on the bow of last moment unmanned boat and object ship, △ θ2For current time unmanned boat and target
When the input angle on the bow of ship, i.e. the relative position variation of object ship and unmanned boat or opposite angle on the bow variation, then two virtual boats are created
Waypoint, while calculating the desired speed of unmanned boat in real time and carrying out the control of course and flight path, herein, virtual way point is
Place unmanned boat current Location and will reached, therefore, in two virtual way points of establishment, first point is unmanned boat
Current accommodation, the longitude and latitude for the unmanned boat desired locations that second point is acquired according to unmanned boat and the practical angle on the bow of object ship, specifically
Formula is as follows：
Wherein, (X, Y) is the longitude and latitude of object ship, and (Lng, Lat) is the longitude and latitude of object ship, s0For object ship and nobody
Actual range between ship, Δ θ5Unmanned boat and the practical angle on the bow of object ship,
Work as vw<When 1.2kn, Heading control is carried out, Heading control process is as follows：According to the current course of unmanned boat and setting
Course, using PID (engineering in practice, the adjuster control law being most widely used be ratio, integral, differential control, letter
Claim PID control) helm order exported is calculated, export course helm order Cd=Kp*△θ3+Kd*θd+Ki*θi, wherein vwBefore unmanned boat
Into speed through water, unit kn, KpFor Heading control proportionality coefficient, △ θ3For heading crossing angle, KdFor Heading control differential coefficient, θd
For course differential, KiFor Heading control integral coefficient, θiIt is integrated for course.
Work as vwWhen >=1.2kn, flight tracking control is carried out, flight tracking control process is as follows：
Calculate course correction：
Δθ6=035* Δs θ7+Kp′*ΔL+Kd′*Ld+Ki′*Li
Wherein, vwFor unmanned boat advance speed through water, unit kn, Δ θ6For the course correction of unmanned boat, unit is °,
Δθ7For the course correction of last moment unmanned boat, unit is ° Kp' it is that course-line deviation controls proportionality coefficient, Δ L is unmanned boat
Course-line deviation, unit be in the sea, Kd' it is that course-line deviation controls differential coefficient, LdFor the course-line deviation differential of unmanned boat, Ki' be
Course-line deviation controls integral coefficient, LiIt is integrated for the course-line deviation of unmanned boat.
Calculate heading crossing angle：
Δθ3=θ1+Δθ6-θ5+θ2-θ6
Wherein, Δ θ3For heading crossing angle, θ1For the intended course of unmanned boat, unit is ° Δ θ6For the navigational calibration of unmanned boat
Amount, unit be °, θ5For the compass value of unmanned boat, unit is ° θ2For the flow direction of unmanned boat, unit is ° θ6For the boat of unmanned boat
Mark is to unit is °.
Export flight path helm order：
Cr=Kp”*Δθ3+Kd"*θd+Ki"*θi
Wherein, Cr is flight path helm order, Kp" it is flight tracking control proportionality coefficient, Δ θ3For heading crossing angle, Kd" it is flight tracking control differential
Coefficient, θdFor course differential, Ki" it is flight tracking control integral coefficient, θiIt is integrated for course.
Work as s1=s2Or △ θ1=△ θ2, i.e., when the relative position of object ship and unmanned boat or opposite angle on the bow do not change, create
Four way points, first point is unmanned ship position, and second point is unmanned boat desired locations, is thirdly first boat under collaboration
Waypoint, the 4th point is second way point under collaboration.
Distance L of the calculating current accommodation of unmanned boat to terminal
When ship is in a distance before and after desired point, i.e., -0.08<L<0.03, it remains a constant speed as possible, processing procedure is as follows：
v0=36003.11*L/17
Work as v0<When 0, v0=1.5*v0
Wherein, L is the current accommodation of unmanned boat to the distance of terminal, v0For unmanned boat plan speed, the i.e. current ship of unmanned boat
Position arrives the duration of terminal, unit kn to the distance of terminal divided by plan.
Work as vwWhen >=1.2kn, flight tracking control is carried out, flight tracking control process is as described above, details are not described herein again.
Work as vw<When 1.2kn, Heading control is carried out, Heading control process is as described above, details are not described herein again.
When ship is far from desired locations, i.e. L >=0.03 or L≤- 0.08, processing mode is as follows：
v0=36003.11*L/17
Work as v0<When 0, v0=1.5*v0
Work as vwWhen >=1.2kn, flight tracking control is carried out, flight tracking control process is as described above, details are not described herein again.
Work as vw<When 1.2kn, Heading control is carried out, Heading control process is as described above, details are not described herein again.
The desired speed of a unmanned boat is adjusted per 1.6s, process is as follows：
When L >=0.03 or L≤- 0.08,
ve'=vt*0.95+V0/2
When -0.08<L<When 0.03, work as L>When 0, ve'=vt*0.95+v0/2
Work as L<When 0, ve'=vt+v0
Wherein, ve' be unmanned boat desired speed, vtFor object ship speed, v0For unmanned boat plan speed.
Calculate the difference of the desired speed and actual speed of unmanned boat：
△ v=ve’-v
Wherein, △ v are the difference of the desired speed and actual speed of unmanned boat, ve' be unmanned boat desired speed, v is
The actual speed of unmanned boat.
When | Δ v | when >=1,
As △ v >=1,
If v >=vt* 0.95, and -0.08<L<When 0.03
ve'=ve’
If v<vt* 0.95, and when L >=0.03 or L≤- 0.08
As △ v >=12.5, ve'=ve’+10
Conversely, ve'=ve’+6
As △ v<When -1,
If v≤vt* 0.75, and -0.08<L<When 0.03
ve'=ve’
If v>vt* 0.75, and when L >=0.03 or L≤- 0.08
As △ v≤- 10, ve'=ve’-15
As △ v>When -10, ve'=ve’-7
When | Δ v | when ＜ 1, ve'=ve’
Work as Vt<When 2kn and speed are kept, ve'=0, i.e. unmanned boat are motionless
The commercial value of the present invention is to provide to have the unmanned boat for capableing of object ship function to client, (such as with miscellaneous equipment
Control centre, object ship) composition system, it realizes to functions such as the track ups of object ship.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of safe tracking of unmanned boat based on Collaborative Control, which is characterized in that include the following steps：
The tracking enabling signal that control centre sends is issued unmanned boat data processing module by unmanned boat communication module；
Unmanned boat data processing module control unmanned boat communication module is established communicates letter with the tracking between object ship communication module
Road；
Real-time target ship movement parameter is sent to unmanned boat data processing by object ship locating module by tracking communication channel
Module；
The unmanned ship movement parameter that unmanned boat data processing module is beamed back according to target ship movement parameter and unmanned boat locating module
Unmanned boat control signal is calculated, and is sent to the distant control module of unmanned boat；
The distant control module of unmanned boat controls the pursuit path that signal adjusts unmanned boat in real time according to unmanned boat.
2. the safe tracking of the unmanned boat according to claim 1 based on Collaborative Control, which is characterized in that unmanned boat number
Nobody is obtained according to the unmanned boat beginning parameter transform model that target ship movement parameter and unmanned boat locating module are beamed back according to processing module
Ship controls signal, including：
The kinematic parameter of real-time reception unmanned boat and object ship and the position data for parsing unmanned boat and object ship；
Calculate the actual range between unmanned boat and object ship in real time according to the position data of unmanned boat and object ship；
It receives the actual range and is compared with pre-determined distance threshold value；
When the actual range is less than pre-determined distance threshold value, the actual angle between unmanned boat and object ship is calculated；
The setting course of unmanned boat is calculated according to the actual angle and is sent to the distant TT＆C system of unmanned boat；
When the relative distance is more than pre-determined distance threshold value, the relative position between unmanned boat and object ship or opposite angle on the bow are judged
Whether change；
Whether changed according to relative position or opposite angle on the bow and creates way point and be sent to the distant TT＆C system of unmanned boat.
3. the safe tracking of the unmanned boat according to claim 2 based on Collaborative Control, which is characterized in that unmanned boat number
Nobody is obtained according to the unmanned boat beginning parameter transform model that target ship movement parameter and unmanned boat locating module are beamed back according to processing module
Ship controls signal, further includes：
Real time parsing unmanned boat speed through water and unmanned boat heading crossing angle；
Calculate the desired speed of unmanned boat according to unmanned boat speed through water and unmanned boat heading crossing angle, and by the desired speed of unmanned boat
It is sent to the distant TT＆C system of unmanned boat, to adjust the speed of unmanned boat in real time.
4. the safe tracking of the unmanned boat according to claim 3 based on Collaborative Control, which is characterized in that further include：
Real-time target ship movement parameter is sent to control centre by object ship locating module.
5. the safe tracking of the unmanned boat according to claim 4 based on Collaborative Control, which is characterized in that by following
Formula calculates the desired speed of unmanned boat：
Wherein, veFor the desired speed of unmanned boat, unit kn, vtFor object ship speed, unit kn, s0For object ship and nothing
Actual range between people's ship, unit are v in the seawFor unmanned boat advance speed through water, unit kn, Δ θ4For unmanned boat course
Difference, unit are °.
6. the safe tracking of the unmanned boat according to claim 5 based on Collaborative Control, which is characterized in that by following
Formula calculates the setting course of unmanned boat according to the actual angle：
Wherein, θ4For set course, unit be °, θ3For object ship course made good, unit is ° that Δ θ is the phase of object ship and unmanned boat
To angle, unit is °.
7. a kind of unmanned boat security tracking systems based on Collaborative Control, which is characterized in that including：
Unmanned boat communication module, the tracking enabling signal for sending control centre issue unmanned boat data processing module；
Unmanned boat data processing module is logical for controlling the tracking that unmanned boat communication module is established between object ship communication module
Believe channel；
Real-time target ship movement parameter is sent to unmanned boat data by object ship locating module for passing through tracking communication channel
Processing module；
Unmanned boat data processing module, the unmanned boat movement for being beamed back according to target ship movement parameter and unmanned boat locating module
Unmanned boat control signal is calculated in parameter, and is sent to the distant control module of unmanned boat；
The distant control module of unmanned boat, for controlling the pursuit path that signal adjusts unmanned boat in real time according to unmanned boat.
8. the unmanned boat security tracking systems according to claim 7 based on Collaborative Control, which is characterized in that unmanned boat number
Include according to processing module：
Kinematic parameter resolution unit for the kinematic parameter of real-time reception unmanned boat and object ship and parses unmanned boat and target
The position data of ship；
Actual distance calculation unit, for according to the position data of unmanned boat and object ship calculate in real time unmanned boat and object ship it
Between actual range；
Distance comparison unit, for receiving the actual range and being compared with pre-determined distance threshold value；
Actual angle computing unit, for when the actual range is less than pre-determined distance threshold value, calculate unmanned boat and object ship it
Between actual angle；
Course computing unit is set, the setting course for calculating unmanned boat according to the actual angle is simultaneously sent to unmanned boat telemetering
Control system；
Relative position changes judging unit, for when the relative distance is more than pre-determined distance threshold value, judging unmanned boat and target
Whether the relative position between ship changes；
Opposite angle on the bow changes judging unit, for when the relative distance is more than pre-determined distance threshold value, judging unmanned boat and target
Whether the opposite angle on the bow between ship changes；
Way point creating unit, for whether changing establishment way point according to relative position or opposite angle on the bow and being sent to unmanned boat
Distant TT＆C system.
9. the unmanned boat security tracking systems according to claim 8 based on Collaborative Control, which is characterized in that further include：
Unmanned boat photographic device, for acquiring unmanned ship movement parameter in real time；
Wherein, unmanned boat communication module is additionally operable to unmanned ship movement parameter real-time Transmission to object ship so that object ship is timely
Adjust ship trajectory.
10. the unmanned boat security tracking systems according to claim 9 based on Collaborative Control, which is characterized in that unmanned boat
Data processing module further includes：Desired speed computing unit, for being calculated according to unmanned boat speed through water and unmanned boat heading crossing angle
The desired speed of unmanned boat, and the desired speed of unmanned boat is sent to the distant TT＆C system of unmanned boat, to adjust unmanned boat in real time
Speed,
Wherein, kinematic parameter resolution unit is additionally operable to real time parsing unmanned boat speed through water and unmanned boat heading crossing angle.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109407671A (en) * | 2018-12-11 | 2019-03-01 | 大连海事大学 | A kind of drive lacking unmanned boat target surrounds controller architecture and design method |
| CN109541657A (en) * | 2018-12-13 | 2019-03-29 | 集美大学 | A kind of the intelligence communication navigation system and method for unmanned ships and light boats |
| CN110262482A (en) * | 2019-06-10 | 2019-09-20 | 华东师范大学 | A kind of unmanned boat speed of a ship or plane control method and unmanned boat |
| CN111142527A (en) * | 2019-12-31 | 2020-05-12 | 陕西欧卡电子智能科技有限公司 | Tracking control method for arbitrary path of unmanned ship |
| CN111986517A (en) * | 2020-08-26 | 2020-11-24 | 珠海大横琴科技发展有限公司 | Ship anomaly detection method and device and storage medium |
| CN112486194A (en) * | 2020-11-26 | 2021-03-12 | 江苏科技大学 | Automatic following device and method for track of unpowered ship |
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2018
- 2018-08-01 CN CN201810866508.8A patent/CN108646766A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109407671A (en) * | 2018-12-11 | 2019-03-01 | 大连海事大学 | A kind of drive lacking unmanned boat target surrounds controller architecture and design method |
| CN109407671B (en) * | 2018-12-11 | 2021-06-29 | 大连海事大学 | Under-actuated unmanned ship target surrounding controller structure and design method |
| CN109541657A (en) * | 2018-12-13 | 2019-03-29 | 集美大学 | A kind of the intelligence communication navigation system and method for unmanned ships and light boats |
| CN110262482A (en) * | 2019-06-10 | 2019-09-20 | 华东师范大学 | A kind of unmanned boat speed of a ship or plane control method and unmanned boat |
| CN111142527A (en) * | 2019-12-31 | 2020-05-12 | 陕西欧卡电子智能科技有限公司 | Tracking control method for arbitrary path of unmanned ship |
| CN111142527B (en) * | 2019-12-31 | 2023-08-11 | 陕西欧卡电子智能科技有限公司 | Tracking control method for arbitrary path of unmanned ship |
| CN111986517A (en) * | 2020-08-26 | 2020-11-24 | 珠海大横琴科技发展有限公司 | Ship anomaly detection method and device and storage medium |
| CN112486194A (en) * | 2020-11-26 | 2021-03-12 | 江苏科技大学 | Automatic following device and method for track of unpowered ship |
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