CN111142541A - Virtual anchoring navigation control algorithm for wave glider - Google Patents
Virtual anchoring navigation control algorithm for wave glider Download PDFInfo
- Publication number
- CN111142541A CN111142541A CN202010034275.2A CN202010034275A CN111142541A CN 111142541 A CN111142541 A CN 111142541A CN 202010034275 A CN202010034275 A CN 202010034275A CN 111142541 A CN111142541 A CN 111142541A
- Authority
- CN
- China
- Prior art keywords
- virtual
- anchoring
- wave glider
- point
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000013459 approach Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 238000004873 anchoring Methods 0.000 abstract description 17
- 230000007246 mechanism Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Images
Classifications
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The virtual anchoring navigation control means that the wave glider performs virtual anchoring control within a certain range of an anchoring point so as to conveniently acquire marine data for a long time and detect marine environment, a virtual anchoring center point is set, a virtual anchoring error circle is introduced, an error circle radius R is given, the virtual anchoring error circle is subjected to curve discretization, namely circular curve track tracking is converted into linear path tracking for tracking a plurality of target points, a compass acquires a current heading angle psi, a GPS module performs real-time positioning on the wave glider, and an LOS algorithm calculates an expected heading angle psilosThe invention designs a virtual anchoring navigation control algorithm to eliminate precision errors caused by external environment during anchoring, and can enter an anchoring state again when deviating from the anchoring state through continuous tracking of the target course point.
Description
Technical Field
The invention relates to a virtual anchoring navigation control algorithm for a wave glider, and particularly relates to the field of anchoring navigation control for the wave glider.
Background
The virtual anchoring navigation control means that the wave glider controls virtual anchoring within a certain range of an anchoring point so as to be convenient for obtaining marine data for a long time and detecting marine environment, anchoring positioning is needed to obtain a relatively stable platform system to maintain the lasting working capacity of the platform system no matter oil exploitation or ocean exploration, an existing ocean observation platform adopts continuous crossing of a target anchoring point to anchor, anchoring precision is low, and accurate ocean monitoring and data obtaining are difficult to achieve.
Wave gliders driven by waves are more and more widely applied, and the mooring navigation control of the wave gliders is particularly difficult due to strong external interference, system nonlinearity and model uncertainty when the wave gliders move on the sea surface.
Disclosure of Invention
The invention aims to overcome the defects of low anchoring precision caused by factors such as strong external interference, system nonlinearity, model uncertainty and the like when the wave glider moves on the sea surface, and realize accurate anchoring navigation control. The virtual anchoring navigation control algorithm of the wave glider can be expanded to vehicles with other multi-body mechanisms similar to the wave glider in structure.
The invention has the following implementation steps:
the method comprises the following steps: setting a virtual anchoring center point, introducing a virtual anchoring error circle, converting the virtual anchoring problem into a path tracking problem, giving an error circle radius R, and establishing a rectangular coordinate system.
Step two: the virtual anchoring error circle is subjected to curve discretization, namely circular curve track tracking is converted into linear path tracking for tracking a plurality of target points, a compass acquires a current heading angle psi, a GPS module carries out real-time positioning on the wave glider, and an LOS algorithm calculates an expected heading angle psilosAnd inputting the course difference between the actual course angle and the expected course angle into the PID controller, calculating the current expected rudder angle delta and executing rudder striking.
Step three: and delaying, acquiring the current position and the current course angle of the wave glider again, judging whether the current position and the current course angle of the wave glider reach the range of a preset target point or not according to the distance deviation d between the current position of the wave glider and the target point, if not, continuously repeating the previous step two, if so, switching to the next target point, and repeating the step two. Through the steps, the wave glider performs approximate circular track tracking motion around the virtual anchoring point, and accurate virtual anchoring navigation control is realized.
In the actual anchoring navigation control process of the wave glider, after the wave glider reaches a target point, continuous target control is not carried out, the wave glider can cause the anchoring position to deviate due to strong external interference, larger errors directly exist in anchoring precision, even if the wave glider can accurately reach the target point, errors can exist between the actual position and the expected position after the wave glider is anchored for a period of time, and the method has the following effects: the invention designs a virtual anchoring navigation control algorithm to eliminate precision errors caused by external environment during anchoring, and can enter the anchoring state again when deviating from the anchoring state by tracking the path of discrete points on the virtual anchoring circle.
Drawings
FIG. 1 is a schematic diagram of a LOS algorithm tracking control method;
FIG. 2 is a flow chart of a wave glider dynamic virtual mooring control method;
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
As shown in figure 1, a wave glider anchoring center point is given, a virtual anchoring error circle is introduced, the radius R of the error circle is given, the error circle is subjected to curve discretization, a plurality of target heading points are taken, the current actual heading angle psi is measured by using a compass, the current target position (X, Y) is measured by GPS positioning, the distance between the two points is calculated by the coordinates of the current position and the target position, and the expected heading angle psi is solved by using LOS algorithmlosThe obtained course difference psieThe current desired rudder angle delta is solved by making the current desired rudder angle delta approach zero through PID control. The desired rudder angle δ to be produced is directAnd acting on a tail rudder mechanism of the wave glider to enable the wave glider to move forward towards an expected direction along a straight path, acquiring the current position and the current course angle after a period of time, judging whether a preset course point range is reached or not according to the distance between the current position and the target position, continuously repeating the previous steps if the preset course point range is not reached, and switching to tracking the next expected course point if the preset course point range is reached, and continuously repeating the previous steps. Through the steps, accurate virtual anchoring navigation control can be realized.
The LOS algorithm equation in FIG. 1 is:
in the formula, #losTo the desired heading angle, (X)LOS，YLOS) The coordinate value of the expected heading point is shown, (X, Y) is the coordinate value of the actual position, delta is the visible distance, and the distance between the expected heading point and the projection point of the current position of the wave glider on the expected aircraft is delta nLPPWhere n is 2-5, LPPIs the length of the wave glider, delta is the visible distance of the wave glider, where e represents the lateral following error of the wave glider, αkIs the angle between the vertical direction of the rectangular coordinate system and the expected heading.
The PID control equation is:
ψe＝ψlos-ψ (3)
where δ is the rudder angle increment, K1Is a proportionality coefficient, K2Is a differential coefficient, K3Is an integral coefficient,. psieIs the difference of course, psilosThe desired heading angle psi is the actual heading angle, and the system has a heading difference psieIn time, a rudder angle is generated after PID control, and the rudder angle is controlledThe wave glider sails towards the expected track, and stable convergence can be obtained by reasonably setting parameters of the PID controller, so that the course difference psi is ensuredeGradually approaches to zero, namely the current course angle of the wave glider approaches to an expected course angle, the wave glider can continuously approach to a target course point and finally runs to the target course point to complete the tracking control of a target point, and when the wave glider enters into the error range of the target point, the next target point is tracked until the path tracking of all discrete target points is completed, so that the accurate virtual anchoring navigation control is realized.
Claims (4)
1. A virtual mooring navigation control algorithm, wherein said virtual mooring navigation control algorithm has the steps of:
the method comprises the following steps: setting a virtual anchoring center point, introducing a virtual anchoring error circle, converting the virtual anchoring problem into a path tracking problem, giving an error circle radius R, and establishing a rectangular coordinate system.
Step two: the virtual anchoring error circle is subjected to curve discretization, namely circular curve track tracking is converted into linear path tracking for tracking a plurality of target points, a compass acquires a current heading angle psi, a GPS module carries out real-time positioning on the wave glider, and an LOS algorithm calculates an expected heading angle psilosAnd inputting the course difference between the actual course angle and the expected course angle into the PID controller, calculating the current expected rudder angle delta and executing rudder striking.
Step three: and delaying, acquiring the current position and the current course angle of the wave glider again, judging whether the current position and the current course angle of the wave glider reach the range of a preset target point or not according to the distance deviation d between the current position of the wave glider and the target point, if not, continuously repeating the previous step two, if so, switching to the next target point, and repeating the step two. Through the steps, the wave glider performs approximate circular track tracking motion around the virtual anchoring point, and accurate virtual anchoring navigation control is realized.
2. The virtual mooring navigation control algorithm according to claim 1, wherein a virtual mooring center point is set, a virtual mooring error circle is introduced, an error circle radius R is given, the virtual mooring error circle is subjected to curve discretization, a target point is taken, and accurate mooring navigation control is achieved by tracking the target point.
3. The virtual anchor navigation control algorithm of claim 1,
in the formula, #losTo the desired heading angle, (X)LOS，YLOS) The coordinate value of the expected heading point is shown, (X, Y) is the coordinate value of the actual position, delta is the visible distance, and the distance between the expected heading point and the projection point of the current position of the wave glider on the expected aircraft is delta nLPPWhere n is 2-5, LPPIs the length of the wave glider, delta is the visible distance of the wave glider, where e represents the lateral following error of the wave glider, αkIs the angle between the vertical direction of the rectangular coordinate system and the expected heading.
4. The virtual anchor navigation control algorithm of claim 1,
ψe＝ψlos-ψ (3)
where δ is the rudder angle increment, K1Is a proportionality coefficient, K2Is a differential coefficient, K3Is an integral coefficient,. psieIs the difference of course, psilosThe desired heading angle psi is the actual heading angle, and the system has a heading difference psieIn the process, a rudder angle can be generated after PID control, and the rudder angle can control the deviation of the wave gliderSailing to an expected track, and obtaining stable convergence by reasonably setting parameters of a PID controller to ensure that the heading difference psieGradually approaches to zero, namely the current course angle of the wave glider approaches to an expected course angle, the wave glider can continuously approach to a target course point and finally runs to the target course point to complete the tracking control of a target point, and when the wave glider enters into the error range of the target point, the next target point is tracked until the path tracking of all discrete target points is completed, so that the accurate virtual anchoring navigation control is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010034275.2A CN111142541A (en) | 2020-01-13 | 2020-01-13 | Virtual anchoring navigation control algorithm for wave glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010034275.2A CN111142541A (en) | 2020-01-13 | 2020-01-13 | Virtual anchoring navigation control algorithm for wave glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111142541A true CN111142541A (en) | 2020-05-12 |
Family
ID=70524738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010034275.2A Pending CN111142541A (en) | 2020-01-13 | 2020-01-13 | Virtual anchoring navigation control algorithm for wave glider |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111142541A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111601257A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider deck monitoring module |
| CN111623781A (en) * | 2020-06-09 | 2020-09-04 | 青岛海洋科学与技术国家实验室发展中心 | Real-time path navigation method and system for wave glider |
| CN111722627A (en) * | 2020-06-09 | 2020-09-29 | 青岛海洋科学与技术国家实验室发展中心 | Dynamic virtual anchoring control method and system for unmanned surface vehicle |
| CN113323068A (en) * | 2021-04-29 | 2021-08-31 | 中联重科土方机械有限公司 | Control method for engineering machinery, processor and engineering machinery |
| CN113867412A (en) * | 2021-11-19 | 2021-12-31 | 中国工程物理研究院电子工程研究所 | Multi-unmanned aerial vehicle track planning method based on virtual navigation |
| CN114779791A (en) * | 2022-06-20 | 2022-07-22 | 青岛海舟科技有限公司 | Wave glider position keeping method and system |
| CN116027671A (en) * | 2023-03-28 | 2023-04-28 | 中国海洋大学 | Anchoring method and system of wave glider |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803612A (en) * | 2018-06-27 | 2018-11-13 | 青岛黄海学院 | A kind of unmanned inspection ship rectilinear path under the influence of ocean current tracks implementation method |
| CN109582026A (en) * | 2019-01-10 | 2019-04-05 | 中国海洋大学 | Autonomous Underwater Vehicle path tracking control method based on Self-tuning System sight and drift angle compensation |
| CN110609553A (en) * | 2019-09-16 | 2019-12-24 | 哈尔滨工程大学 | LOS (line of sight) guide control method for circular arc path of pipe-laying ship |
| CN111722627A (en) * | 2020-06-09 | 2020-09-29 | 青岛海洋科学与技术国家实验室发展中心 | Dynamic virtual anchoring control method and system for unmanned surface vehicle |
-
2020
- 2020-01-13 CN CN202010034275.2A patent/CN111142541A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108803612A (en) * | 2018-06-27 | 2018-11-13 | 青岛黄海学院 | A kind of unmanned inspection ship rectilinear path under the influence of ocean current tracks implementation method |
| CN109582026A (en) * | 2019-01-10 | 2019-04-05 | 中国海洋大学 | Autonomous Underwater Vehicle path tracking control method based on Self-tuning System sight and drift angle compensation |
| CN110609553A (en) * | 2019-09-16 | 2019-12-24 | 哈尔滨工程大学 | LOS (line of sight) guide control method for circular arc path of pipe-laying ship |
| CN111722627A (en) * | 2020-06-09 | 2020-09-29 | 青岛海洋科学与技术国家实验室发展中心 | Dynamic virtual anchoring control method and system for unmanned surface vehicle |
Non-Patent Citations (2)
| Title |
|---|
| 张鑫贵: "虚拟锚泊浮标导航与控制策略研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 * |
| 班良: "小型自航模控制系统设计与实现", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111601257A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider deck monitoring module |
| CN111623781A (en) * | 2020-06-09 | 2020-09-04 | 青岛海洋科学与技术国家实验室发展中心 | Real-time path navigation method and system for wave glider |
| CN111722627A (en) * | 2020-06-09 | 2020-09-29 | 青岛海洋科学与技术国家实验室发展中心 | Dynamic virtual anchoring control method and system for unmanned surface vehicle |
| CN113323068A (en) * | 2021-04-29 | 2021-08-31 | 中联重科土方机械有限公司 | Control method for engineering machinery, processor and engineering machinery |
| CN113867412A (en) * | 2021-11-19 | 2021-12-31 | 中国工程物理研究院电子工程研究所 | Multi-unmanned aerial vehicle track planning method based on virtual navigation |
| CN114779791A (en) * | 2022-06-20 | 2022-07-22 | 青岛海舟科技有限公司 | Wave glider position keeping method and system |
| CN116027671A (en) * | 2023-03-28 | 2023-04-28 | 中国海洋大学 | Anchoring method and system of wave glider |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111142541A (en) | Virtual anchoring navigation control algorithm for wave glider | |
| CN105823480B (en) | Underwater moving target location algorithm based on single beacon | |
| CN111930119B (en) | Flow-rate-adaptive unmanned ship autonomous planning path and motion accurate tracking method | |
| CN108614258B (en) | Underwater positioning method based on single underwater sound beacon distance measurement | |
| CN108803612A (en) | A kind of unmanned inspection ship rectilinear path under the influence of ocean current tracks implementation method | |
| CN106444838A (en) | Precise path tracking control method for autonomous underwater vehicle | |
| CN114779791B (en) | Wave glider position keeping method and system | |
| CN106643723B (en) | A kind of unmanned boat safe navigation dead reckoning method | |
| CN111309010B (en) | Control method implemented by unmanned ship seabed terrain surveying and mapping control system based on bionic robot | |
| CN108871379B (en) | DVL speed measurement error online calibration method | |
| CN114115264B (en) | Unmanned ship survey and drawing navigation system and control method thereof | |
| CN111308470B (en) | Electronic stabilization method and system for unmanned ship-borne radar equipment | |
| CN110319838A (en) | A kind of adaptive athletic posture frame of reference heave measurement method | |
| CN111928850A (en) | Combined navigation method of autonomous underwater robot suitable for environment under polar ice frame | |
| CN112378399A (en) | Coal mine tunnel tunneling robot precise positioning and orientation method based on strapdown inertial navigation and digital total station | |
| CN112798016A (en) | SINS and DVL combination-based AUV traveling quick initial alignment method | |
| CN113625544A (en) | Inner and outer ring PID path tracking control method of wave glider | |
| CN113433553A (en) | Precise navigation method for multi-source acoustic information fusion of underwater robot | |
| CN111735455A (en) | Improved Gaussian distance iterative algorithm based butt joint recovery integrated navigation method | |
| CN103292813A (en) | Information filtering method for improving formation and navigation accuracy of water surface boat | |
| CN106646507B (en) | Laser tracking measurement equipment multi-target measurement method and apparatus based on inertial guidance | |
| CN113049052B (en) | Flow measurement method for river with large sand content | |
| CN111176292A (en) | Wave glider path tracking control method based on side margin | |
| CN115857520B (en) | Unmanned aerial vehicle landing state monitoring method based on combination of vision and ship state | |
| CN112902931B (en) | Method for measuring and eliminating delay between depth measurement data and positioning data of unmanned ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200512 |