CN111176290A - Unmanned ship information fusion processing method and system - Google Patents
Unmanned ship information fusion processing method and system Download PDFInfo
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Abstract
The invention provides an unmanned ship information fusion processing method and system, and solves the technical problem that autonomous track adjustment cannot be formed due to the lack of information fusion processing in the prior art. The method comprises the following steps: receiving real-time navigation message data, forming a position relative error between a real-time track and a planned track, and forming a track adjustment expected value according to the position relative error; receiving real-time rotating speed message data of the engine, and comparing the real-time rotating speed message data with the flight path adjustment expected value to form engine rotating speed adjustment data; and receiving real-time rudder angle message data of the rudder, and comparing the real-time rudder angle message data with the flight path adjustment expected value to form steering engine rudder angle adjustment data. The physical parameters of the boat are effectively fused through a software and hardware framework to form a type message which is mapped with states such as the attitude, the working condition and the position of the boat, and reliable and effective information fusion is realized. The driving purpose of the boat and the corresponding driving data are formed through comparison and identification of the type messages, so that the unmanned boat can be safely controlled at any position, and unmanned intelligent navigation is realized.
Description
Technical Field
The invention relates to the technical field of ship control, in particular to an information fusion processing method for an unmanned ship.
Background
In the prior art, the ships and boats CAN be controlled by an industrial control bus, for example, the engines and the steering engines CAN be effectively controlled by a CAN bus and control feedback CAN be obtained. However, there are inevitable technical drawbacks to unmanned intelligent steering of a boat to make a planned course. For example, aiming at the acquisition of the engine state, the steering engine state, the position information given by a radar navigation system and the synchronous information of the surrounding sea conditions on the boat, how to fuse and comprehensively judge the synchronous information, how to form the feedback operations of starting and stopping the engine, refueling and decelerating, advancing and backing, controlling the steering engine to turn left and turn right and the like, and how to realize the autonomous navigation of the boat along a fixed track so as to automatically identify the surrounding sea conditions.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide an unmanned surface vehicle information fusion processing method and system, which solve the technical problem that autonomous track adjustment cannot be formed due to lack of information fusion processing in the prior art.
The unmanned ship information fusion processing method provided by the embodiment of the invention comprises the following steps:
receiving real-time navigation message data, forming a position relative error between a real-time track and a planned track, and forming a track adjustment expected value according to the position relative error;
receiving real-time rotating speed message data of the engine, and comparing the real-time rotating speed message data with the flight path adjustment expected value to form engine rotating speed adjustment data;
and receiving real-time rudder angle message data of the rudder, and comparing the real-time rudder angle message data with the flight path adjustment expected value to form steering engine rudder angle adjustment data.
In an embodiment of the present invention, the method further includes:
establishing data connection with an attitude sensor, an environment sensor and a feedback sensor through a CAN bus;
the data type and the encapsulation structure of the messages in the data connection are defined by the NEMA2000 protocol, and the message data of a certain type is formed by correlating the sensor data.
In an embodiment of the present invention, the receiving the real-time navigation message data to form a relative position error between the real-time track and the planned track, and forming the track adjustment expected value according to the relative position error includes:
receiving navigation positioning message data and analyzing current coordinate data;
comparing the current coordinate data with the closest planning coordinate in the planning track to obtain the position relative error;
forming course adjustment data according to the position relative error, forming speed adjustment data according to sea state data, and combining the course adjustment data and the speed adjustment data with current coordinate data to form the track adjustment expected value.
In an embodiment of the present invention, the receiving real-time rotational speed message data of the engine, and comparing the received real-time rotational speed message data with the track adjustment expected value to form engine rotational speed adjustment data includes:
receiving current rotating speed message data of the engine and analyzing the current rotating speed of the engine;
forming the engine rotating speed adjusting data according to the difference between the current engine rotating speed and the speed adjusting data in the track adjusting expected value;
and outputting the engine speed adjusting data to an engine control port to enable the engine to reach the target speed.
In an embodiment of the present invention, the receiving real-time rudder angle message data of a rudder, and comparing the received real-time rudder angle message data with the track adjustment expected value to form steering engine rudder angle adjustment data includes:
receiving real-time rudder angle information data of the steering engine and analyzing the current rudder angle;
receiving boat heading message data and analyzing the current boat heading direction;
determining the current course of the ship according to the current ship heading direction, and forming steering engine rudder angle adjusting data for adjusting the current course to an expected course according to the current rudder angle and course adjusting data in the flight path adjusting expected value;
and outputting the steering engine rudder angle adjusting data to a steering engine control port to enable the steering engine rudder angle to reach the target direction.
The unmanned ship information fusion processing system of the embodiment of the invention comprises:
the navigation controller is used for executing program codes of the processing process in the unmanned ship information fusion processing method;
a memory for storing the program code.
The unmanned ship information fusion processing system of the embodiment of the invention comprises:
the flight path adjusting module is used for receiving the real-time navigation message data, forming the position relative error of the real-time flight path and the planned flight path, and forming a flight path adjusting expected value according to the position relative error;
the flight speed adjusting module is used for receiving real-time rotating speed message data of the engine and comparing the real-time rotating speed message data with the flight path adjusting expected value to form engine rotating speed adjusting data;
and the course adjusting module is used for receiving the real-time rudder angle message data of the rudder and comparing the real-time rudder angle message data with the flight path adjusting expected value to form steering engine rudder angle adjusting data.
In an embodiment of the present invention, the track adjusting module includes:
the position receiving unit is used for receiving the navigation positioning message data and analyzing the current coordinate data;
the positioning comparison unit is used for comparing the current coordinate data with the closest planning coordinate in the planning track to obtain the position relative error;
and the track planning unit is used for forming course adjustment data according to the position relative error, forming speed adjustment data according to sea condition data, and combining the course adjustment data and the speed adjustment data with current coordinate data to form the track adjustment expected value.
In an embodiment of the present invention, the speed adjusting module includes:
the rotating speed receiving unit is used for receiving current rotating speed message data of the engine and analyzing the current rotating speed of the engine;
the rotating speed comparison unit is used for forming the engine rotating speed adjustment data according to the difference between the current engine rotating speed and the flight speed adjustment data in the flight path adjustment expected value;
and the rotating speed planning unit is used for outputting the engine rotating speed adjusting data to an engine control port so that the engine reaches a target rotating speed.
In an embodiment of the present invention, the course adjustment module includes:
the rudder angle receiving unit is used for receiving real-time rudder angle message data of the steering engine and analyzing the current rudder angle;
the direction receiving unit is used for receiving the boat heading message data and analyzing the current boat heading direction;
the direction comparison unit is used for determining the current course of the ship according to the current ship heading direction and forming steering engine rudder angle adjustment data for adjusting the current course to an expected course according to the current rudder angle and course adjustment data in the flight path adjustment expected value;
and the direction planning unit is used for outputting steering engine rudder angle adjusting data to a steering engine control port so that the steering engine rudder angle reaches a target direction.
The unmanned ship information fusion processing method and the unmanned ship information fusion processing system take the navigation controller as an execution main body, effectively fuse the physical parameters of the ships through a software and hardware architecture, form type information mapped with states of the postures, working conditions, positions and the like of the ships, and realize reliable and effective information fusion. The driving purpose of the boat and the corresponding driving data are formed through comparison and identification of the type messages, so that the unmanned boat can be safely controlled at any position, and unmanned intelligent navigation is realized.
Drawings
Fig. 1 is a schematic flow diagram illustrating an information fusion processing method for an unmanned surface vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic view of a navigation feedback architecture implemented by the unmanned surface vehicle information fusion processing method according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating an engine speed feedback architecture in the unmanned surface vehicle information fusion processing method according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a steering engine feedback architecture in the information fusion processing method for the unmanned surface vehicle according to the embodiment of the invention.
Fig. 5 is a schematic frame diagram of an unmanned surface vehicle information fusion processing system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The flow of the unmanned ship information fusion processing method according to an embodiment of the invention is shown in fig. 1. In fig. 1, the unmanned ship information fusion processing method includes:
step 100: and establishing data connection with the attitude sensor, the environment sensor and the feedback sensor through the CAN bus.
The attitude sensor includes but is not limited to a boat bow direction sensor, a boat bow direction speed sensor, an inclination angle attitude sensor and the like.
Environmental sensors include, but are not limited to, global positioning system receivers, geomagnetic sensors, radar receivers, and the like.
Feedback sensors include, but are not limited to, rudder angle sensors, engine speed sensors, engine output power sensors, engine steering sensors, and the like.
The data connection is accomplished through a digital input output module (DIO) connected by a CAN bus.
Step 200: the data type and the encapsulation structure of the messages in the data connection are defined by the NEMA2000 protocol, and the message data of a certain type is formed by correlating the sensor data.
The NMEA2000 is a communication protocol for data exchange of each control unit in the marine application proposed on the basis of SAE J1939, is suitable for data communication of shipborne electronic equipment, and can define the message type formed by sensor data. The message data is synchronized based on the timing characteristics. The information such as the ship position, the course speed, the AIS data, the radar tracking target, the turning point, the track deviation, the host state, the environmental parameters and the like formed based on the NMEA2000 protocol information can facilitate the exchange and the sharing of data among different manufacturer devices.
In an embodiment of the present invention, the navigation system transmits the measurement message data of the relevant sensor to the navigation controller through NEMA2000 protocol (based on can2.0b), wherein the heading and position information of the boat is mainly provided, and the specific protocol is as shown in the following table:
NEMA2000 communication protocol of radar navigation system
| Signal | NEMA2000 PGN |
| Boat heading | 127250/0x1F112 (Single frame) |
| Position of | 129025/0x1F801 (Single frame) |
In one embodiment of the present invention, the engine transmits the measurement message data of the relevant sensor to the navigation controller, wherein the information such as the rotating speed is mainly provided, and the specific protocol is as shown in the following table:
engine NEMA2000 communication protocol
| Signal | NEMA2000 PGN |
| Rotational speed of engine | 127488/0x1F200 (Single frame) |
In one embodiment of the present invention, the steering engine transmits measurement message data of the relevant sensor to the navigation controller, wherein the steering angle state information of the rudder is mainly provided, and the specific protocol is as shown in the following table:
steering engine NEMA2000 communication protocol
| Signal | PGN |
| Rudder angle | 127245/0x1F10D (Single frame) |
Step 300: and receiving the real-time navigation message data, forming the position relative error of the real-time track and the planned track, and forming a track adjustment expected value according to the position relative error.
Navigation message data is collected by the environmental sensors and received via the corresponding NEMA2000 communication protocol. And forming a flight path adjustment expected value by the error elimination data of the position relative error.
Step 400: and receiving real-time rotating speed message data of the engine, and comparing the real-time rotating speed message data with the flight path adjustment expected value to form engine rotating speed adjustment data.
The speed message data is collected by a feedback sensor and received by a corresponding NEMA2000 communication protocol. The movement rate error cancellation data forms engine speed adjustment data.
Step 500: and receiving real-time rudder angle message data of the rudder, and comparing the real-time rudder angle message data with the flight path adjustment expected value to form steering engine rudder angle adjustment data.
The rudder angle information data is acquired through an attitude sensor and received through a corresponding NEMA2000 communication protocol. And the moving direction error eliminating data forms steering engine rudder angle adjusting data.
The unmanned ship information fusion processing method takes the navigation controller as an execution main body, effectively fuses the physical parameters of the ships through a software and hardware architecture, forms type information mapped with states of the ships such as attitude, working condition and position, and realizes reliable and effective information fusion. The driving purpose of the boat and the corresponding driving data are formed through comparison and identification of the type messages, so that the unmanned boat can be safely controlled at any position, and unmanned intelligent navigation is realized.
As shown in fig. 1, in an embodiment of the present invention, step 300 includes:
step 310: receiving navigation positioning message data and analyzing current coordinate data;
step 320: comparing the current coordinate data with the closest planning coordinate in the planning track to obtain a position relative error;
step 330: forming course adjustment data according to the position relative error, forming speed adjustment data according to the sea state data, and combining the course adjustment data and the speed adjustment data with the current coordinate data to form a track adjustment expected value.
The corresponding signal feedback logic structure of step 300 is shown in fig. 2.
According to the unmanned ship information fusion processing method, the trend direction of the position relative error is eliminated is obtained through comparison between the dynamic actual position in the navigation and the expected position in the planned track, the power trend direction overcoming the influences of wind power, sea waves, gravity and the like is obtained through sea condition data, and then the track adjustment expected value of the current position overcoming the position relative error is formed. And forming an actual track of the current actual position gradually fitting the planned track through real-time control-feedback, and forming an effective track of the unmanned ship to the planned track.
As shown in FIG. 1, in one embodiment of the present invention, step 400 comprises:
step 410: receiving current rotating speed message data of the engine and analyzing the current rotating speed of the engine;
step 420: forming engine speed adjusting data according to the difference between the current engine speed and the speed adjusting data in the track adjusting expected value;
step 430: and outputting the engine speed adjusting data to an engine control port to enable the engine to reach the target speed.
The corresponding signal feedback logic structure of step 400 is shown in fig. 3.
According to the unmanned ship information fusion processing method, the necessary rotating speed for going to the target position is obtained by comparing the current rotating speed of the engine with the flight speed adjusting data in the flight path adjusting expected value, and corresponding driving force output is formed, so that the effective tracking of the unmanned ship to the planned flight path is formed.
As shown in fig. 1, in an embodiment of the present invention, step 500 includes:
step 510: receiving real-time rudder angle information data of the steering engine and analyzing the current rudder angle;
step 520: receiving boat heading message data and analyzing the current boat heading direction;
step 530: determining the current course of the ship according to the current ship heading direction, and forming steering engine rudder angle adjusting data for adjusting the current course to the expected course according to the current rudder angle and course adjusting data in the flight path adjusting expected value;
step 540: and outputting the steering engine rudder angle adjusting data to a steering engine control port to enable the steering engine rudder angle to reach the target direction.
The corresponding signal feedback logic structure of step 500 is shown in fig. 4.
According to the unmanned ship information fusion processing method, the required rudder angle adjustment of the heading to the target position is obtained by comparing the heading direction of the current unmanned ship with the expected heading in the flight path adjustment expected value to form the corresponding rudder angle change of the steering engine, so that the effective tracking of the unmanned ship to the planned flight path is formed.
The unmanned ship information fusion processing system of an embodiment of the invention comprises:
the navigation controller is used for executing program codes of the processing process in the unmanned ship information fusion processing method of the embodiment;
and the memory is used for storing program codes of processing procedures in the unmanned ship information fusion processing method of the embodiment.
The navigation controller may employ a DSP (Digital Signal Processing) Digital Signal processor, an FPGA (Field-Programmable Gate Array), an MCU (micro controller Unit) system board, an SoC (system on a chip) system board, or a PLC (Programmable logic controller) minimum system including I/O.
Fig. 5 shows an unmanned surface vehicle information fusion processing system according to an embodiment of the present invention. In fig. 5, the present embodiment includes:
the connection establishing module 10 is used for establishing data connection with the attitude sensor, the environment sensor and the feedback sensor through a CAN bus;
a protocol establishing module 20, configured to define a data type and an encapsulation structure of a message in a data connection through a NEMA2000 protocol, and form message data of a determined type by associating sensor data;
the track adjusting module 30 is configured to receive the real-time navigation message data, form a relative position error between the real-time track and the planned track, and form a track adjusting expected value according to the relative position error;
the speed adjusting module 40 is used for receiving real-time rotating speed message data of the engine and comparing the real-time rotating speed message data with a track adjusting expected value to form engine rotating speed adjusting data;
and the course adjusting module 50 is used for receiving the real-time rudder angle message data of the rudder and comparing the real-time rudder angle message data with the flight path adjusting expected value to form steering engine rudder angle adjusting data.
As shown in fig. 5, in an embodiment of the present invention, the track adjusting module 30 further includes:
a position receiving unit 31, configured to receive navigation positioning message data and analyze current coordinate data;
a positioning comparison unit 32, configured to compare the current coordinate data with a closest planned coordinate in the planned track to obtain a position relative error;
and the track planning unit 33 is used for forming course adjustment data according to the position relative error, forming speed adjustment data according to the sea state data, and forming a track adjustment expected value by combining the course adjustment data and the speed adjustment data with the current coordinate data.
As shown in fig. 5, in an embodiment of the present invention, the speed adjustment module 40 further includes:
a rotation speed receiving unit 41, configured to receive current rotation speed message data of the engine and analyze a current engine rotation speed;
a rotation speed comparison unit 42, configured to form engine rotation speed adjustment data according to a difference between the current engine rotation speed and the flight speed adjustment data in the flight path adjustment expected value;
and a rotation speed planning unit 43, configured to output the engine rotation speed adjustment data to the engine control port, so that the engine reaches the target rotation speed.
As shown in fig. 5, in an embodiment of the present invention, the heading adjusting module 50 further includes:
a rudder angle receiving unit 51, configured to receive real-time rudder angle message data of the steering engine and analyze a current rudder angle;
the direction receiving unit 52 is configured to receive the boat heading message data and analyze a current boat heading direction;
the direction comparison unit 53 is used for determining the current course of the ship according to the current ship heading direction and forming steering engine rudder angle adjustment data for adjusting the current course to the expected course according to the current rudder angle and the course adjustment data in the flight path adjustment expected value;
and the direction planning unit 54 is used for outputting steering engine rudder angle adjusting data to a steering engine control port so that the steering engine rudder angle reaches a target direction.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An unmanned ship information fusion processing method is characterized by comprising the following steps:
receiving real-time navigation message data, forming a position relative error between a real-time track and a planned track, and forming a track adjustment expected value according to the position relative error;
receiving real-time rotating speed message data of the engine, and comparing the real-time rotating speed message data with the flight path adjustment expected value to form engine rotating speed adjustment data;
and receiving real-time rudder angle message data of the rudder, and comparing the real-time rudder angle message data with the flight path adjustment expected value to form steering engine rudder angle adjustment data.
2. The unmanned ship information fusion processing method of claim 1, further comprising:
establishing data connection with an attitude sensor, an environment sensor and a feedback sensor through a CAN bus;
the data type and the encapsulation structure of the messages in the data connection are defined by the NEMA2000 protocol, and the message data of a certain type is formed by correlating the sensor data.
3. The unmanned ship information fusion processing method of claim 1, wherein the receiving real-time navigation message data, forming a relative position error between a real-time track and a planned track, and forming a track adjustment expected value according to the relative position error comprises:
receiving navigation positioning message data and analyzing current coordinate data;
comparing the current coordinate data with the closest planning coordinate in the planning track to obtain the position relative error;
forming course adjustment data according to the position relative error, forming speed adjustment data according to sea state data, and combining the course adjustment data and the speed adjustment data with current coordinate data to form the track adjustment expected value.
4. The unmanned ship information fusion processing method of claim 1, wherein the receiving real-time rotational speed message data of an engine, and comparing the real-time rotational speed message data with the track adjustment expected value to form engine rotational speed adjustment data comprises:
receiving current rotating speed message data of the engine and analyzing the current rotating speed of the engine;
forming the engine rotating speed adjusting data according to the difference between the current engine rotating speed and the speed adjusting data in the track adjusting expected value;
and outputting the engine speed adjusting data to an engine control port to enable the engine to reach the target speed.
5. The unmanned ship information fusion processing method of claim 1, wherein the receiving of the real-time rudder angle message data of the rudder and the comparison with the track adjustment expected value to form the steering engine rudder angle adjustment data comprises:
receiving real-time rudder angle information data of the steering engine and analyzing the current rudder angle;
receiving boat heading message data and analyzing the current boat heading direction;
determining the current course of the ship according to the current ship heading direction, and forming steering engine rudder angle adjusting data for adjusting the current course to an expected course according to the current rudder angle and course adjusting data in the flight path adjusting expected value;
and outputting the steering engine rudder angle adjusting data to a steering engine control port to enable the steering engine rudder angle to reach the target direction.
6. An unmanned ship information fusion processing system, comprising:
a navigation controller for executing a program code of a processing procedure in the unmanned ship information fusion processing method according to any one of claims 1 to 5;
a memory for storing the program code.
7. An unmanned ship information fusion processing system, comprising:
the flight path adjusting module is used for receiving the real-time navigation message data, forming the position relative error of the real-time flight path and the planned flight path, and forming a flight path adjusting expected value according to the position relative error;
the flight speed adjusting module is used for receiving real-time rotating speed message data of the engine and comparing the real-time rotating speed message data with the flight path adjusting expected value to form engine rotating speed adjusting data;
and the course adjusting module is used for receiving the real-time rudder angle message data of the rudder and comparing the real-time rudder angle message data with the flight path adjusting expected value to form steering engine rudder angle adjusting data.
8. The unmanned ship information fusion processing system of claim 7, wherein the track adjustment module comprises:
the position receiving unit is used for receiving the navigation positioning message data and analyzing the current coordinate data;
the positioning comparison unit is used for comparing the current coordinate data with the closest planning coordinate in the planning track to obtain the position relative error;
and the track planning unit is used for forming course adjustment data according to the position relative error, forming speed adjustment data according to sea condition data, and combining the course adjustment data and the speed adjustment data with current coordinate data to form the track adjustment expected value.
9. The unmanned ship information fusion processing system of claim 7, wherein the speed adjustment module comprises:
the rotating speed receiving unit is used for receiving current rotating speed message data of the engine and analyzing the current rotating speed of the engine;
the rotating speed comparison unit is used for forming the engine rotating speed adjustment data according to the difference between the current engine rotating speed and the flight speed adjustment data in the flight path adjustment expected value;
and the rotating speed planning unit is used for outputting the engine rotating speed adjusting data to an engine control port so that the engine reaches a target rotating speed.
10. The unmanned ship information fusion processing system of claim 7, wherein the heading adjustment module comprises:
the rudder angle receiving unit is used for receiving real-time rudder angle message data of the steering engine and analyzing the current rudder angle;
the direction receiving unit is used for receiving the boat heading message data and analyzing the current boat heading direction;
the direction comparison unit is used for determining the current course of the ship according to the current ship heading direction and forming steering engine rudder angle adjustment data for adjusting the current course to an expected course according to the current rudder angle and course adjustment data in the flight path adjustment expected value;
and the direction planning unit is used for outputting steering engine rudder angle adjusting data to a steering engine control port so that the steering engine rudder angle reaches a target direction.
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| CN112389592A (en) * | 2020-11-12 | 2021-02-23 | 中国人民解放军海军工程大学 | Actuating mechanism of unmanned ship and control method thereof |
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