CN111240337A - Power positioning method for under-actuated unmanned surface vessel - Google Patents
Power positioning method for under-actuated unmanned surface vessel Download PDFInfo
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a dynamic positioning method for an under-actuated unmanned surface vessel, which comprises the following steps: acquiring an expected position of the unmanned ship power positioning, a set power positioning radius and an actually set power positioning radius according to an instruction of a remote control end, wherein the actually set power positioning radius is smaller than the set power positioning radius; acquiring the actual position and the actual course of the unmanned ship according to a satellite and an inertial navigation system carried on the unmanned ship; calculating an expected course, a course deviation angle and a deviation distance of the unmanned ship according to the expected position of the unmanned ship for dynamic positioning and the current actual position of the unmanned ship; and when the deviation distance is not less than the actually set power positioning radius, setting an angle threshold value, and adjusting the course deviation angle so as to enable the adjusted course deviation angle to reach a set condition. The embodiment of the invention has the advantages of small calculation amount, low requirement on the performance of the processor, low realization cost, easy realization and large-scale application.
Description
Technical Field
The invention relates to the technical field of unmanned surface vessels, in particular to a dynamic positioning method for an under-actuated unmanned surface vessel.
Background
In the conventional marine field, an "anchor" is a simple method widely used in order to maintain a specific position of a ship in the sea. However, the cost and feasibility of mooring methods become more complex when water depths exceed 600 meters, and new unmanned vessels are of "anchor-less" design. Unmanned ship is carrying out marine environment monitoring, often need the fixed point operation during tasks such as ocean survey and drawing, however because the influence of stormy waves flows, unmanned surface of water ship is difficult to carry out the fixed point operation, so the power positioning technique of unmanned ship becomes a focus in unmanned ship research field with the exigency that reality needs of the complexity of surface of water environment, because unmanned ship does not dispose horizontal impeller usually, belong to under-actuated control, unmanned ship's manipulation performance is relatively poor under low-speed motion state, be difficult to realize the calm control to the ship. Implementation costs are a concern in practical applications, particularly when dynamic positioning of other platforms on the water surface, such as cluster buoys, is required. Therefore, a dynamic positioning method which is low in cost, stable, reliable, small in calculation amount and capable of being applied in a large scale is urgently needed for solving the problems. The invention provides a dynamic positioning method of an under-actuated unmanned surface vessel based on the requirements. The method has small calculated amount and low requirement on the performance of a processor, and can realize the dynamic positioning of the unmanned ship only by a satellite and an inertial navigation system for measuring the course of the unmanned ship without any other sensor.
Disclosure of Invention
The invention aims to provide a dynamic positioning method of an under-actuated unmanned surface vessel, which has small calculated amount and low requirement on the performance of a processor, only needs a satellite and an inertial navigation system for measuring the course of the unmanned surface vessel, and can realize the dynamic positioning of the unmanned surface vessel without any other sensor.
In order to achieve the above object, the present invention provides an under-actuated unmanned surface vessel dynamic positioning method, comprising:
acquiring an expected position of the unmanned ship power positioning, a set power positioning radius and an actually set power positioning radius according to an instruction of a remote control end, wherein the actually set power positioning radius is smaller than the set power positioning radius;
acquiring the actual position and the actual course of the unmanned ship according to a satellite and an inertial navigation system carried on the unmanned ship;
calculating an expected course, a course deviation angle and a deviation distance of the unmanned ship according to the expected position of the unmanned ship for dynamic positioning and the current actual position of the unmanned ship;
when the deviation distance is not less than the actually set power positioning radius, setting an angle threshold value, wherein the value of the angle threshold value is any value in the range of 0-90 degrees;
adjusting the course deviation angle according to the range of the course deviation angle and a preset adjustment strategy, and acquiring the adjusted course deviation angle so as to enable the adjusted course deviation angle to reach a set condition;
selecting a course deviation angle and a deviation distance as control variables, and adopting a PD control method without limitation to PD control, so that the control system adjusts the course and the speed of the unmanned surface boat in real time to drive the unmanned surface boat to an expected position for dynamic positioning of the unmanned surface boat.
Preferably, the step of adjusting the heading deviation angle according to the range of the heading deviation angle and a preset adjustment strategy to obtain the adjusted heading deviation angle so that the adjusted heading deviation angle reaches a set condition includes:
when the absolute value of the course deviation angle of the unmanned ship is larger than the angle threshold and smaller than 90 degrees, controlling the unmanned ship to turn in situ until the absolute value of the course deviation angle is smaller than the angle threshold;
when the absolute value of the course deviation angle of the unmanned ship is larger than 90 degrees and smaller than a first numerical value, controlling the unmanned ship to turn in situ until the absolute value of the course deviation angle is larger than the first numerical value and smaller than 180 degrees, wherein the first numerical value is the difference between 180 degrees and an angle threshold;
when the absolute value of the course deviation angle of the unmanned ship is smaller than an angle threshold, controlling the unmanned ship to advance;
and when the absolute value of the course deviation angle of the unmanned ship is larger than the first value and smaller than 180 degrees, controlling the unmanned ship to retreat.
In one implementation, the method further comprises:
and when the deviation distance is smaller than the actually set dynamic positioning radius, stopping outputting voltage to the propellers at the left side and the right side of the unmanned ship.
Preferably, the desired heading of the unmanned surface vehicle
The calculation formula of (2) is as follows:
wherein (X)end,Yend) The expected position for the powerfully positioned drone, (x (t), y (t)) is the actual position where the drone is currently located.
Preferably, the calculation formula of the heading deviation angle θ is as follows:
wherein the content of the first and second substances,
the heading psi is the actual heading of the unmanned ship;
preferably, the calculation formula of the deviation distance D is as follows:
wherein (X)end,Yend) The expected position for the powerfully positioned drone, (x (t), y (t)) is the actual position where the drone is currently located.
By applying the power positioning method of the under-actuated unmanned surface vessel provided by the embodiment of the invention, the unmanned surface vessel needs less sensor equipment, the implementation cost is lower, the control algorithm is simple, the requirement on hardware equipment such as a controller is not high, the precision requirement on power positioning of a common unmanned surface vessel or other platforms on the water surface can be met, and the method is easy to implement and apply in a large scale.
Drawings
Fig. 1 is a schematic flow chart of a dynamic positioning method of an under-actuated unmanned surface vessel according to an embodiment of the invention.
FIG. 2 is an exemplary plot of the unmanned surface vessel dynamic positioning course deviation angle θ E (- γ, γ).
Fig. 3 is an exemplary plot of the unmanned surface vessel dynamic positioning course deviation angle θ e (γ,90 °).
FIG. 4 is an exemplary plot of the unmanned surface vessel dynamic positioning course deviation angle θ ∈ (90, 180- γ).
FIG. 5 is an exemplary plot of the unmanned surface vessel dynamic positioning course deviation angle θ E (180 ° - γ,180 °) ∪ (-180 °, - (180 ° - γ)).
FIG. 6 is an exemplary plot of the unmanned surface vessel dynamic positioning course deviation angle θ E (180 ° - γ) 90 °.
FIG. 7 is an exemplary plot of the unmanned surface vessel dynamic positioning course deviation angle θ E (-90 °, - γ).
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to fig. 1-7. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
As shown in fig. 1, the present invention provides a method for dynamically positioning an under-actuated unmanned surface vessel, the method comprising:
s101, acquiring an expected position of the unmanned ship for dynamic positioning, a set dynamic positioning radius and an actually set dynamic positioning radius according to an instruction of a remote control end, wherein the actually set dynamic positioning radius is smaller than the set dynamic positioning radius;
it should be noted that, according to the instruction of the remote control end, the expected position (X) of the power positioning of the unmanned surface vehicle can be determinedend,Yend) (ii) a Set dynamic positioning radius R2And the actually set dynamic positioning radius R1Wherein R is1＜R2。
Wherein the set dynamic positioning radius R2The method is that the dynamic positioning radius R is set to be reached and actually set under different operation scenes1Is a command value input into the unmanned boat controller.
S102, acquiring the actual position and the actual course of the unmanned ship according to the satellite and the inertial navigation system carried on the unmanned ship;
it will be appreciated that, depending on the satellites and inertial navigation systems onboard the drone, the actual location (x (t), y (t)) and actual heading ψ at which the drone is currently located may be determined.
S103, calculating an expected course, a course deviation angle and a deviation distance of the unmanned ship according to the expected position of the unmanned ship in dynamic positioning and the current actual position of the unmanned ship;
it should be noted that the heading deviation angle θ is the actual heading ψ and the expected heading of the unmanned ship
A difference of (d); the deviation distance D is the actual position (X (t), y (t)) of the unmanned ship and the expected position (X) of the unmanned ship for dynamic positioningend,Yend) The distance of (c). Desired position (X) by unmanned boat dynamic positioningend,Yend) And the actual positions (x (t), y (t)) where the unmanned ship is located currently, the expected heading of the unmanned ship can be calculated
According to the actual heading psi and the expected heading of the unmanned boat
Calculating a course deviation angle theta:
due to the fact that
Psi belongs to (0 degree, 360 degree), therefore theta belongs to (-360 degree, 360 degree), and a limit treatment needs to be carried out on theta to limit the range of theta to (-180 degree, 180 degree).
According to the actual position (X (t), y (t)) of the unmanned surface vehicle and the expected position (X) of the unmanned surface vehicle for dynamic positioningend,Yend) Calculating a deviation distance D:
s104, when the deviation distance is not smaller than the actually set power positioning radius, setting an angle threshold value, wherein the value of the angle threshold value is any value in the range of 0-90 degrees;
it is understood that the term "a" or "an" when not usedThe deviation distance D of the man-boat is not less than the actually set dynamic positioning radius R1When the unmanned ship is in the water surface, the control system needs to adjust the course and the speed of the unmanned ship to drive the unmanned ship to the expected position (X) of the power positioning of the unmanned ship on the water surfaceend,Yend) At this time, we set an angle threshold γ (0 ° < γ < 90 °).
S105, adjusting the course deviation angle according to the range of the course deviation angle and a preset adjustment strategy, and acquiring the adjusted course deviation angle so as to enable the adjusted course deviation angle to reach a set condition;
it should be noted that, the rule of the unmanned ship motion control is formulated by judging the magnitude range of the heading deviation angle theta, so an angle threshold gamma (0 degree < gamma < 90 degrees) is preset, and the expected heading of the unmanned ship is due to the fact that the unmanned ship is in a desired heading
Always points to the desired position (X) of the unmanned boat dynamic positioningend,Yend) Therefore, when the absolute value of the heading deviation angle theta is larger than gamma and smaller than 90 degrees, the unmanned ship is controlled to turn in situ until the absolute value of the heading deviation angle theta is smaller than gamma. And when the absolute value of the heading deviation angle theta is larger than 90 degrees and smaller than 180 degrees-gamma, controlling the unmanned ship to turn in situ until the absolute value of the heading deviation angle theta is larger than 180 degrees-gamma and smaller than 180 degrees. When the absolute value of the course deviation angle theta of the unmanned ship is smaller than gamma, the unmanned ship is controlled to advance, and when the absolute value of the course deviation angle theta of the unmanned ship is larger than 180 degrees-gamma and smaller than 180 degrees, the unmanned ship is controlled to retreat.
Specifically, referring to tables 1 and 2, when theta epsilon (-gamma, gamma), the motion state of the unmanned ship is that the controller controls the unmanned ship to advance as shown in figure 2.
When theta epsilon (gamma, 90 degrees), the motion state of the unmanned ship is that the unmanned ship is firstly turned to the right from the original position to theta epsilon (-gamma, gamma), and then the controller controls the unmanned ship to advance as shown in figure 3.
When theta epsilon (90 degrees, 180 degrees to gamma), the motion state of the unmanned boat is firstly rotated to theta epsilon (180 degrees to gamma, 180 degrees) ∪ (-180 degrees and- (180 degrees to gamma)), and then the controller controls the unmanned boat to retreat as shown in figure 4.
When theta epsilon (180 degrees-gamma, 180 degrees) ∪ (-180 degrees (180 degrees-gamma)), the motion state of the unmanned ship controls the unmanned ship to retreat by the controller as shown in figure 5.
When theta epsilon (-180-gamma), 90), the motion state of the unmanned ship is firstly rotated to theta epsilon (180-gamma, 180 degrees) ∪ (-180 degrees, 180-gamma), and then the controller controls the unmanned ship to retreat as shown in figure 6.
When theta epsilon (-90 degrees, -gamma), the motion state of the unmanned ship is that the unmanned ship is firstly turned to the left from the original position to theta epsilon (-gamma, gamma), and then the controller controls the unmanned ship to advance as shown in figure 7.
TABLE 1
The turns in tables 1 and 2 are both fixed speed pivot turns.
And S106, selecting the course deviation angle and the deviation distance as control variables, and adopting a PD control method without limitation to PD control to enable the control system to adjust the course and the speed of the unmanned surface vessel in real time to enable the unmanned surface vessel to drive to the expected position of the unmanned surface vessel for dynamic positioning.
The unmanned surface vehicle control method includes selecting a course deviation angle theta and a deviation distance D as control variables, inputting the course deviation angle theta and the deviation distance D into a controller as the control variables, and adopting a PD control method without limitation to PD control to enable a control system to adjust the course and the speed of the unmanned surface vehicle in real time by adjusting the voltage of propellers at two sides to enable the unmanned surface vehicle to drive to an expected position (X) of the unmanned surface vehicle dynamic positioningend,Yend) Stopping power supply when the deviation distance D of the unmanned ship is smaller than a set threshold value gamma, wherein the unmanned ship is already at a desired position of dynamic positioning; meanwhile, the controller continuously monitors the deviation distance D of the unmanned surface vehicle in real time, and when the deviation distance D of the unmanned surface vehicle is not smaller than a set threshold value gamma due to the influence of wind, wave and flow, the control system continuously adjusts the course and the speed of the unmanned surface vehicle in real time to enable the unmanned surface vehicle to drive to an expected position (X) of the unmanned surface vehicle for dynamic positioningend,Yend) And then the dynamic positioning of the unmanned ship is carried out again.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (6)
1. An under-actuated unmanned surface vessel dynamic positioning method is characterized by comprising the following steps:
acquiring an expected position of the unmanned ship power positioning, a set power positioning radius and an actually set power positioning radius according to an instruction of a remote control end, wherein the actually set power positioning radius is smaller than the set power positioning radius;
acquiring the actual position and the actual course of the unmanned ship according to a satellite and an inertial navigation system carried on the unmanned ship;
calculating an expected course, a course deviation angle and a deviation distance of the unmanned ship according to the expected position of the unmanned ship for dynamic positioning and the current actual position of the unmanned ship;
when the deviation distance is not less than the actually set power positioning radius, setting an angle threshold value, wherein the value of the angle threshold value is any value in the range of 0-90 degrees;
adjusting the course deviation angle according to the range of the course deviation angle and a preset adjustment strategy, and acquiring the adjusted course deviation angle so as to enable the adjusted course deviation angle to reach a set condition;
selecting a course deviation angle and a deviation distance as control variables, and adopting a PD control method without limitation to PD control, so that the control system adjusts the course and the speed of the unmanned surface boat in real time to drive the unmanned surface boat to an expected position for dynamic positioning of the unmanned surface boat.
2. The method for dynamically positioning the under-actuated unmanned surface vessel according to claim 1, wherein the step of adjusting the course deviation angle according to the range of the course deviation angle and a preset adjustment strategy to obtain the adjusted course deviation angle so that the adjusted course deviation angle reaches a set condition comprises the steps of:
when the absolute value of the course deviation angle of the unmanned ship is larger than the angle threshold and smaller than 90 degrees, controlling the unmanned ship to turn in situ until the absolute value of the course deviation angle is smaller than the angle threshold;
when the absolute value of the course deviation angle of the unmanned ship is larger than 90 degrees and smaller than a first numerical value, controlling the unmanned ship to turn in situ until the absolute value of the course deviation angle is larger than the first numerical value and smaller than 180 degrees, wherein the first numerical value is the difference between 180 degrees and an angle threshold;
when the absolute value of the course deviation angle of the unmanned ship is smaller than an angle threshold, controlling the unmanned ship to advance;
and when the absolute value of the course deviation angle of the unmanned ship is larger than the first value and smaller than 180 degrees, controlling the unmanned ship to retreat.
3. The method of claim 1, further comprising:
and when the deviation distance is smaller than the actually set dynamic positioning radius, stopping outputting voltage to the propellers at the left side and the right side of the unmanned ship.
4. The method of claim 1, wherein the desired heading of the unmanned surface vehicle is determined by the method of claim 1
The calculation formula of (2) is as follows:
wherein (X)end,Yend) The expected position for the powerfully positioned drone, (x (t), y (t)) is the actual position where the drone is currently located.
5. The method for dynamically positioning the under-actuated unmanned surface vessel as claimed in claim 1 or 2, wherein the heading deviation angle θ is calculated by the formula:
wherein the content of the first and second substances,
is the desired heading of the unmanned boat and psi is the actual heading of the unmanned boat.
6. The method for dynamically positioning the under-actuated unmanned surface vessel according to claim 1, wherein the deviation distance D is calculated by the formula:
wherein (X)end,Yend) The expected position for the powerfully positioned drone, (x (t), y (t)) is the actual position where the drone is currently located.
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