CN110347176A - Ocean aerodone group-network construction, method for allocating tasks and approach to formation control - Google Patents
Ocean aerodone group-network construction, method for allocating tasks and approach to formation control Download PDFInfo
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- CN110347176A CN110347176A CN201910514409.8A CN201910514409A CN110347176A CN 110347176 A CN110347176 A CN 110347176A CN 201910514409 A CN201910514409 A CN 201910514409A CN 110347176 A CN110347176 A CN 110347176A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The present invention discloses a kind of ocean aerodone group-network construction, method for allocating tasks and approach to formation control, and group-network construction includes ocean aerodone, ocean aerodone bank base manipulation center, Satellite Communication System and ocean model data system.Aerodone bank base manipulation center in ocean is interacted by carrying out communication and director data between Satellite Communication System and ocean aerodone, simultaneously, by accessing ocean model data system, networking can be observed data and interacted with ocean model data by ocean aerodone bank base manipulation center.The present invention can improve the communication delay control problem of ocean aerodone, and the influence by external ocean environmental change to networking formation can be effectively reduced, group-network construction is clear, networking control method is novel, ocean aerodone bank base manipulation center can be enhanced to the control ability of formation, to improve the networking efficiency of ocean aerodone.
Description
Technical field
The present invention relates to underwater robot networking control technology field more particularly to a kind of ocean aerodone group-network construction,
Networking method for allocating tasks and networking approach to formation control.
Background technique
Ocean aerodone is that one kind is able to carry out long timing, large-scale oceanographic observation robot, existing ocean gliding
It is single to observe data type to single type ocean aerodone for machine networking control method multi-panel；Existing ocean aerodone controlling party
Method does not consider that external ocean environmental change bring influences when implementing, while ignoring since subsurface communication constrains caused control yet
Latency issue, low so as to cause ocean aerodone networking formation precision, formation holding capacity difference and whole formation are difficult to control
The problem of.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of ocean aerodone group-network construction, appoints
Distribution method of being engaged in and approach to formation control, can improve the delay control problem of ocean aerodone, and can be effectively reduced by outer
Portion's marine environment changes influence to networking formation, enhancing ocean aerodone bank base manipulation center to the control ability of formation, from
And improve the networking efficiency of ocean aerodone.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of ocean aerodone group-network construction, including ocean aerodone, ocean aerodone bank base manipulate center, satellite communication
System and ocean model data system；The ocean aerodone bank base manipulation center passes through Satellite Communication System and ocean aerodone
Between carry out communication and director data interaction, meanwhile, by access ocean model data system, ocean aerodone bank base manipulation in
The ocean model of practical sea examination observation data and satellite remote sensing observation that the heart returns ocean aerodone by Satellite Communication System
Data interact.
Further, the ocean aerodone includes underwater glider and wave aerodone, and underwater glider indulges vertical plane
Running track is zigzag, and is connect after emerging with satellite communication；Wave aerodone is run and in real time and satellite in extra large table
Communication connection.
Further, ocean aerodone bank base manipulation center includes satellite communication terminal system, ocean aerodone
Five display system, networking task distribution system, networking formation control system and networking data processing system subsystems, every height
System is embedded in modular form, to realize reliability and independence.
Further, the ocean model data system and ocean aerodone bank base manipulation center by RS232 or
RS485 or RJ45 interface carries out data interaction, and observes data by ocean aerodone and carry out model assimilation, ocean model data
Including the sea water advanced of task sea area, temperature, density, wave and ocean current parameter information.
A kind of networking method for allocating tasks is based on above-mentioned networking task distribution system, comprising the following steps:
(101) priority division is carried out to subtask according to ocean aerodone characteristic and task timeliness；
(102) subtask motion model is established according to subtask initial range and behavioral characteristics；
(103) distribution is synchronized to subtask with ocean aerodone practical back information by the way that assignment instructions are interactive；
(104) it needs in time to adjust subtask dynamic when emergency task during task execution, carries out task weight
Distribution.
A kind of networking approach to formation control is based on above-mentioned networking formation control system, comprising the following steps:
(201) kinematics and Dynamic Modeling are carried out to ocean aerodone according to the ocean model data of input；
(202) submarine site of underwater glider is calculated using dead reckoning algorithm；
(203) the operation networking formation of ocean aerodone is kept and is converted using virtual architecture method.
Further, the networking data processing system includes data receiver, data filtering, data storage and data
Transmission module, the observation data for returning to ocean aerodone are handled, and observation data can be input to ocean model
Data system carries out Modifying model.
Further, the virtual architecture method can control the variation of ocean aerodone on-fixed formation networking
System carries out formation deviation adjusting after ocean aerodone passes through Satellite Communication System return position data.
Compared with prior art, the beneficial effects brought by the technical solution of the present invention are as follows:
The present invention can be allocated task for ocean aerodone characteristic and task timeliness, pass through underwater glider
It is communicatively coupled between wave aerodone, realizes the information data real-time Transmission of ocean aerodone, it can be achieved that emergency case
The dynamic of lower subtask adjusts, and guarantees the completeness of task.It, can be sliding to ocean meanwhile in conjunction with external ocean model data system
The running position of Xiang machine carries out real-time control, and the influence by external ocean environmental change to networking formation, raising group is effectively reduced
Nets's shape precision.Group-network construction of the present invention is clear, and networking control method is novel, can enhance ocean aerodone bank base manipulation center pair
The control ability of formation, to improve the networking efficiency of ocean aerodone.
Detailed description of the invention
Fig. 1 is the group-network construction schematic diagram of the embodiment of the present invention, and in Fig. 1, A, B, C are respectively networking subtask.
Fig. 2 is the configuration diagram at ocean aerodone bank base manipulation center in the embodiment of the present invention.
Fig. 3 is the workflow schematic diagram of ocean aerodone networking task distribution system in the embodiment of the present invention.
Fig. 4 and Fig. 5 is the schematic diagram of underwater glider dive and floating-upward process respectively.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, in a kind of ocean aerodone group-network construction, including the manipulation of ocean aerodone, ocean aerodone bank base
The heart, Satellite Communication System and ocean model data system.Ocean aerodone bank base manipulate center by Satellite Communication System with
Communication and director data interaction are carried out between the aerodone of ocean, meanwhile, by accessing ocean model data system, ocean aerodone
Networking can be observed data and interacted with ocean model data by bank base manipulation center.
Wherein, in practical applications, the ocean aerodone should include at least a underwater glider and a wave
Aerodone, it is zigzag that underwater glider, which indulges vertical plane running track, and is connect after emerging with satellite communication；Wave aerodone
It is run in extra large table, center can be manipulated with bank base in real time and communication connection is carried out by satellite, to carry out the interaction of data and instruction.
Wherein, in practical applications, ocean aerodone bank base manipulation center should include ocean aerodone display system, satellite
The subsystems such as communicating terminal system, networking task distribution system, networking formation control system and networking data processing system, each son
System is combined with modular form, guarantees the independence of module and the reliability of total system.
Wherein, in practical applications, the ocean model data system uses ROMS system[1], can be with ocean aerodone
Bank base manipulates center and carries out data interaction by wired or wireless interface, and collects ocean aerodone observation data and carry out ocean
Model assimilation, specific interaction data can be the parameter informations such as sea water advanced, temperature, density, wave and ocean current.
Wherein, in practical applications, include the following steps: when networking task distribution system is embodied
(101) priority division is carried out to subtask according to ocean aerodone characteristic and task timeliness；
(102) subtask motion model is established according to subtask initial range and behavioral characteristics；
Specific as follows, defining subtask model is M=f (v, δ, D, Π, t)
Wherein, speed changes over time v=f (t), and moving direction changes over time δ=f (t), and target depth becomes at any time
Change D=f (t), range changes over time Π=f (t) variation.
(103) distribution is synchronized to subtask with ocean aerodone practical back information by the way that assignment instructions are interactive；
(104) it needs in time to adjust subtask dynamic when emergency task during task execution, carries out task weight
Distribution.
Wherein, in practical applications, networking formation control system is to carry out team after being assigned to ocean aerodone task
Shape control, when specific implementation, include the following steps:
(201) Dynamic Modeling is carried out to ocean aerodone according to the ocean model data of input[2,3]；
(202) submarine site of underwater glider is calculated using dead reckoning algorithm；
Dead reckoning algorithm principle is as follows:
GPS can not be positioned when underwater glider is run under water, therefore use the anchor point before water as its starting point, root
According to experience, vertical speed is 0.2m/s when taking initial, and pitch angle and course angle are known at this time.
Dive process and floating-upward process difference are as shown in Figure 4 and Figure 5.
Dive process:
P0(x0,y0) put as known point, selected initial velocity v0=0.2m/s, α0, θ0It is known (electronic compass numerical value),
It can be accordingly to P1 (x1,y1) calculated, it is assumed that the electronic compass sampling period is Δ t, and l is throwing of the track in longitude and latitude plane
Shadow.
It, can be using the vertical speed in a upper period as the initial velocity in this period, i.e., when calculating P2 point position
(d (1)-d (0))/Δ t=v (1)
D (1) is P1 point depth, and d (0) is P0 point depth.
Then
When carrying out dead reckoning, electronic compass course, pitch angle and depth count value need to be known.
Floating-upward process:
It is similar to dive Principle of Process, it is derived from,
Comprehensive the entire profile process, can obtain,
Work as i=1, when v0=0.2m/s,
As i > 1,
(203) the operation networking formation of ocean aerodone is kept and is converted using virtual architecture method.Virtual architecture
Method can adjust in real time the whole networking formation of ocean aerodone, so that it is attached in virtual point to guarantee that ocean aerodone is followed
Closely, it is specifically described as follows,
Because underwater glider is different from wave aerodone operating mode, keep rank using water surface formation as virtual architecture,
The holding of whole formation is carried out using speed predicting method.
Underwater glider speed vg=f (D, θ, B, α, T), wherein D is depth, and θ is pitch angle, and B is buoyancy adjustment amount, α
For bogey heading, T is single Movement in profile time；
Wave aerodone speed vw=f (α, hw,vc), wherein α is bogey heading, hwFor wave heights, vcFor current speed；
Ocean aerodone speed is predicted using Time Series Forecasting Methods, after the completion of formation determines, needs to guarantee
vg=vw, when detecting that ocean aerodone speed is inconsistent, its parameter need to be adjusted, to guarantee speeds match.
Wherein, in practical applications, networking data processing system can carry out matter to the observation data that ocean aerodone returns
Control, storage and fusion treatment, and observation data can be input to ocean model data system and carry out Modifying model.
Wherein, in practical applications, virtual architecture method can carry out the variation of ocean aerodone on-fixed formation networking
Control, wave aerodone work in extra large table, and underwater glider works under water, and pattern formation is changing in real time, therefore use empty
Quasi- Structure Method controls networking formation, carries out formation after ocean aerodone is by Satellite Communication System return position data
Deviation adjusting.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Bibliography:
[1]https://www.myroms.org/
[2]Yang Y,Liu Y,Wang Y,et al.Dynamic modeling and motion control
strategy for deep-sea hybrid-driven underwater gliders considering hull
deformation and seawater density variation[J].Ocean Engineering,2017,143:66-
78.
[3]Smith R N,Das J,Hine G,et al.Predicting Wave Glider Speed from
Environmental Measurements[J].Mine Warfare&Ship Self-Defence,2011.
Claims (8)
1. a kind of ocean aerodone group-network construction, which is characterized in that including in ocean aerodone, the manipulation of ocean aerodone bank base
The heart, Satellite Communication System and ocean model data system；Ocean aerodone bank base manipulation center passes through Satellite Communication System
Communication is carried out between the aerodone of ocean and director data interacts, meanwhile, by accessing ocean model data system, ocean gliding
Machine bank base manipulates the practical sea examination observation data and satellite remote sensing that center returns ocean aerodone by Satellite Communication System and sees
The ocean model data of survey interact.
2. a kind of ocean aerodone group-network construction according to claim 1, which is characterized in that the ocean aerodone packet
Include underwater glider and wave aerodone, it is zigzag that underwater glider, which indulges vertical plane running track, and after emerging with satellite
Communication connection；Wave aerodone runs in extra large table and connect in real time with satellite communication.
3. a kind of ocean aerodone group-network construction according to claim 1, which is characterized in that the ocean aerodone bank
It includes satellite communication terminal system, ocean aerodone display system, networking task distribution system, networking formation control that base, which manipulates center,
Five subsystems of system processed and networking data processing system, each subsystem are embedded in modular form, with realize reliability and
Independence.
4. a kind of ocean aerodone group-network construction according to claim 1, which is characterized in that the ocean model data
System and ocean aerodone bank base manipulation center pass through ocean by RS232 or the progress data interaction of RS485 or RJ45 interface
Aerodone observes data and carries out model assimilation, and ocean model data include the sea water advanced of task sea area, temperature, density, wave
And ocean current parameter information.
5. a kind of networking method for allocating tasks, based on networking task distribution system described in claim 3, which is characterized in that including
Following steps:
(101) priority division is carried out to subtask according to ocean aerodone characteristic and task timeliness；
(102) subtask motion model is established according to subtask initial range and behavioral characteristics；
(103) distribution is synchronized to subtask with ocean aerodone practical back information by the way that assignment instructions are interactive；
(104) it needs in time to adjust subtask dynamic when emergency task during task execution, carries out task reassignment.
6. a kind of networking approach to formation control, based on networking formation control system described in claim 3, which is characterized in that including
Following steps:
(201) kinematics and Dynamic Modeling are carried out to ocean aerodone according to the ocean model data of input；
(202) submarine site of underwater glider is calculated using dead reckoning algorithm；
(203) the operation networking formation of ocean aerodone is kept and is converted using virtual architecture method.
7. a kind of ocean aerodone group-network construction according to claim 3, which is characterized in that the networking data processing
System includes data receiver, data filtering, data storage and data transmission module, the observation for returning to ocean aerodone
Data are handled, and observation data can be input to ocean model data system and be carried out Modifying model.
8. networking approach to formation control according to claim 6, which is characterized in that the virtual architecture method can be to sea
The variation of foreign aerodone on-fixed formation networking is controlled, when ocean aerodone passes through Satellite Communication System return position data
Formation deviation adjusting is carried out afterwards.
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