CN111459191A - Maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination - Google Patents
Maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination Download PDFInfo
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- CN111459191A CN111459191A CN202010180536.1A CN202010180536A CN111459191A CN 111459191 A CN111459191 A CN 111459191A CN 202010180536 A CN202010180536 A CN 202010180536A CN 111459191 A CN111459191 A CN 111459191A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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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
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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
Abstract
The invention discloses a maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination, which comprises the following steps: acquiring and generating a search and rescue area map; step two, search for and rescue marshalling; step three, determining a search and rescue main shaft; planning a navigation route; and step five, searching and rescuing by cruising on the air route. The invention realizes the maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination through model establishment, and provides a specific cruise method aiming at several typical formation modes. The invention is easy to understand, has strong performability and is convenient to be adopted in maritime search and rescue to realize better effect.
Description
Technical Field
The invention relates to the technical field of maritime search, in particular to a maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination.
Background
Maritime search and rescue refers to actions of coordinating all public and private resources, performing distress monitoring and communication responsibilities, determining the positions of persons in distress, developing search and rescue work and transferring the persons in distress to a safe place, and is an important component of a national rescue system and an important guarantee for maritime human life safety.
The traditional maritime search and rescue method comprises ship search and rescue, airplane search and rescue and ship-airplane combined search and rescue, the preparation work of the search and rescue method at the early stage is more, multi-party force needs to be coordinated, and meanwhile, the cost in the search and rescue is very high. In search and rescue operations, selection of search and rescue areas and search and rescue methods depends on guidance of experience of search and rescue personnel too much, field coordination and command are emphasized in the search process, action organizations have certain blindness, and search and rescue work is lack of systematicness.
Unmanned vehicles (USV) and Unmanned Aerial Vehicles (UAV) refer to platforms capable of autonomously completing tasks in various environments, and are the most important embodiments of application of automatic driving technologies. The USV and the UAV have the advantages of strong maneuverability, convenience in deployment, wide coverage range and low cost. Meanwhile, due to the characteristic of no manned people, the water can adapt to a more dangerous working environment and can operate in some inaccessible scenes or worse environments of human beings, so that the water has a very wide application prospect when being applied to maritime search and rescue. However, at present, no special method is available for unmanned boat-unmanned aerial vehicle combined maritime search and rescue, and how to allocate respective search areas and plan a cruise path is still a problem to be solved.
Disclosure of Invention
The invention aims to overcome the defects of the technology and provide a maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination.
In order to achieve the purpose, the invention adopts the following technical scheme: a maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination comprises the following steps:
acquiring and generating a search and rescue area map;
step two, search for and rescue marshalling;
step three, determining a search and rescue main shaft;
planning a navigation route;
and step five, searching and rescuing by cruising on the air route.
Further, the acquiring and generating a search and rescue area map includes: before executing a search and rescue task, information of a target sea area is acquired in a satellite remote sensing or aerial image measurement mode and the like, and is stored in a main control module of an unmanned ship or an unmanned aerial vehicle in a digital map mode. The purpose is to know the characteristics of the target sea area in advance and plan a cruising route.
Further, the search and rescue group comprises: the method comprises the following steps of performing formation according to the number of unmanned boats and unmanned planes participating in search and rescue, wherein the formation comprises single boat-single-aircraft cooperative formation, single boat-multi-aircraft parallel formation, single boat-multi-aircraft separate formation and multi-boat-multi-aircraft cooperative formation; in the formation cruising process, the unmanned boat is used as the navigation aid and the reference point of the unmanned aerial vehicle.
Further, the determining of the search and rescue spindle specifically comprises the following processes: determining one or more search and rescue main shafts according to the number of the areas to be searched and the number of unmanned boats, wherein one search and rescue main shaft is used under the condition of single boat, and a plurality of search and rescue main shafts are used under the condition of multiple boats; namely, the number of the search and rescue main shafts is determined by the number of unmanned boats.
Further, the planning of the navigation route includes: according to the search and rescue formation and the search and rescue main shaft conditions, the air route planning of the unmanned boat and the unmanned aerial vehicle is respectively carried out, the air route planning comprises the air route distance, the cruising speed and the like, and the specific process is as follows:
(1) the single-boat and single-airplane collaborative formation comprises a search and rescue main shaft, wherein an unmanned boat cruises along the search main shaft at the speed of Vs, an unmanned plane performs turn-back search with the air route spacing as S in a search and rescue area by taking the main shaft as the center, the length of the search line is L, the speed is Va and can be obtained through derivation according to VS, and S is the horizontal distance which can be searched by search and rescue equipment carried by the unmanned plane.
(2) Single boat-multiple airplane parallel formation: the unmanned ship cruises along the searching main shaft at the speed of Vs; the first unmanned aerial vehicle performs turn-back search with the route distance S by taking the main shaft as the center in a search and rescue area, and the speed is Va; the second unmanned aerial vehicle performs turn-back search with the route spacing S by taking the main shaft as the center in the search and rescue area, the length of the search line is reduced by D compared with that of the first unmanned aerial vehicle, and the speed is Va 1; and so on.
(3) The single-boat-multi-airplane sidewise formation comprises a search and rescue main shaft, unmanned boats cruise along the search main shaft at the speed of Vs, a first unmanned aerial vehicle conducts turn-back search with the lane spacing S on one side of the main shaft in a search and rescue area, the length of a search line is L1, the speed is Va, a second unmanned aerial vehicle conducts turn-back search with the lane spacing S on the other side of the main shaft in the search and rescue area, the length of the search line is L1, the speed is Va, and when multiple unmanned aerial vehicles are arranged on each side of the search main shaft, calculation is conducted according to a parallel formation mode.
(4) The multi-boat-multi-airplane sidewise formation comprises a plurality of search and rescue main shafts, unmanned boats cruise along the search main shafts at the speed of Vs, the unmanned planes perform turn-back search with the air route spacing S by taking the main shafts as the center in a search and rescue area, the length of the search line is L2, and the speed is Va. or the combination of the modes is calculated.
The unmanned ship and the unmanned aerial vehicle have the advantages of strong maneuverability, convenience in deployment and the like, can play a role in quick and accurate search and rescue in maritime search and rescue, and have important significance in guaranteeing maritime human life safety. The invention provides a maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination, which provides various cruise routes aiming at different numbers of unmanned boats and unmanned aerial vehicles, can comprehensively and effectively cover search and rescue areas, and overcomes the defects in the existing method.
Drawings
FIG. 1 is a flow chart of a maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination according to the invention;
FIG. 2 is a single boat-single aircraft collaborative formation cruise route diagram of the present invention;
FIG. 3 is a single boat-multiple aircraft side-by-side formation cruise route map of the present invention;
FIG. 4 is a single boat-multiple aircraft side-by-side formation cruise route diagram of the present invention;
fig. 5 is a multi-boat-multi-airplane collaborative formation cruise route map of the present invention.
Detailed Description
Fig. 1 is a flowchart of a maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination, as shown in fig. 1, the method of the present embodiment may include:
acquiring and generating a search and rescue area map;
step two, search for and rescue marshalling;
step three, determining a search and rescue main shaft;
planning a navigation route;
and step five, searching and rescuing by cruising on the air route.
FIG. 2 is a cruise route map of a single boat-single aircraft cooperative formation, which comprises the specific processes that an unmanned boat and an unmanned aerial vehicle enter a search and rescue area from one side, the unmanned boat cruises along a search and rescue main shaft, the unmanned aerial vehicle cruises at a turn-back cruise with a flight path spacing S by taking the search and rescue main shaft as the center, the length of a search line is L, the intersection point of the flight paths of the unmanned boat and the unmanned aerial vehicle is a meeting point of the unmanned boat and the unmanned aerial vehicle, and the cruise route map is formed at the speed V of the unmanned boatsThe speed of the unmanned aerial vehicle can be obtained under the known condition:
fig. 3 is a cruise route map of a single-boat-multiple-airplane parallel formation of the invention, and the specific process is as follows: unmanned ship, unmanned aerial vehicle enter search and rescue area from one side, and unmanned ship is V-shapedsCruising along the search main shaft; the first unmanned aerial vehicle performs turn-back search with the air route spacing S by taking the main shaft as the center in the search and rescue area at the speed of Va(ii) a The second unmanned aerial vehicle performs turn-back search with the air route spacing S by taking the main shaft as the center in the search and rescue area, the length of the search line is reduced by D compared with that of the first unmanned aerial vehicle, and the speed is Va1(ii) a And so on. At unmanned ship speed VsThe speed of the unmanned aerial vehicle can be obtained under the known condition:
fig. 4 is a single-boat-multi-airplane side-by-side formation cruise route map, and the specific process is as follows: unmanned ship, unmanned aerial vehicle enter search and rescue area from one side, and unmanned ship is V-shapedsIs stroked along the search main axisThe first unmanned aerial vehicle performs turn-back search with the route spacing S on one side of the main shaft in the search and rescue area, and the length of the search line is L1At a velocity of VaThe second unmanned aerial vehicle performs turn-back search with the route spacing S on the other side of the main shaft in the search and rescue area, and the length of the search line is L1At a velocity of Va(ii) a When a plurality of unmanned aerial vehicles are arranged on each side of the searching main shaft, calculation is carried out according to a parallel formation mode. At unmanned ship speed VsThe speed of the unmanned aerial vehicle can be obtained under the known condition:
fig. 5 is a cruise route map of a multi-boat-multi-airplane collaborative formation according to the present invention, and the specific process is as follows: unmanned ship, unmanned aerial vehicle enter search and rescue area from one side, and unmanned ship is V-shapedsThe unmanned aerial vehicle performs turn-back search with the air route spacing S by taking the main shaft as the center in a search and rescue area, and the length of the search line is L2At a velocity of Va. Or a combination of the above. At unmanned ship speed VsThe speed of the unmanned aerial vehicle can be obtained under the known condition:
the invention realizes the maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination through model establishment, and provides a specific cruise method aiming at several typical formation modes. The invention is easy to understand, has strong performability and is convenient to be adopted in maritime search and rescue to realize better effect.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A maritime search and rescue method suitable for unmanned boat-unmanned aerial vehicle combination is characterized by comprising the following steps:
acquiring and generating a search and rescue area map;
step two, search for and rescue marshalling;
step three, determining a search and rescue main shaft;
planning a navigation route;
and step five, searching and rescuing by cruising on the air route.
2. The set of influence factors for acquiring unmanned vehicle navigation safety according to claim 1, wherein in step one, before a search and rescue task is performed, information of a target sea area is acquired through satellite remote sensing or aerial image measurement and stored in a main control module of the unmanned vehicle or the unmanned vehicle in a digital map manner.
3. The set of influence factors for acquiring the navigation safety of the unmanned ship as claimed in claim 1, wherein in the second step, formation is performed according to the number of unmanned ships and unmanned planes participating in search and rescue, including single-ship-single-aircraft cooperative formation, single-ship-multi-aircraft parallel formation, single-ship-multi-aircraft separate formation, and multi-ship-multi-aircraft cooperative formation; in the formation cruising process, the unmanned boat is used as the navigation aid and the reference point of the unmanned aerial vehicle.
4. The set of influence factors for acquiring navigation safety of unmanned vehicles according to claim 1, wherein in step three, one or more search and rescue spindles are determined according to the area to be searched and the number of unmanned vehicles, one search and rescue spindle in case of single vehicle and a plurality of search and rescue spindles in case of multiple vehicles.
5. The set of influence factors for acquiring navigation safety of the unmanned vehicle as claimed in claim 1, wherein in step four, the flight path planning of the unmanned vehicle and the unmanned vehicle is performed according to the search and rescue formation and the search and rescue main shaft conditions, respectively, including the flight path distance and the cruising speed, and the specific process is as follows:
(1) the unmanned aerial vehicle carries out turn-back search with the air route spacing as S in a search and rescue area by taking the main shaft as the center, wherein the length of the search line is L, the speed is Va, and S is the horizontal distance which can be searched by search and rescue equipment carried by the unmanned aerial vehicle;
(2) single boat-multiple airplane parallel formation: the unmanned ship cruises along the searching main shaft at the speed of Vs; the first unmanned aerial vehicle performs turn-back search with the route distance S by taking the main shaft as the center in a search and rescue area, and the speed is Va; the second unmanned aerial vehicle performs turn-back search with the route spacing S by taking the main shaft as the center in the search and rescue area, the length of the search line is reduced by D compared with that of the first unmanned aerial vehicle, and the speed is Va 1; and so on.
(3) The single-boat-multi-airplane sidewise formation comprises a search and rescue main shaft, unmanned boats cruise along the search main shaft at the speed of Vs, a first unmanned aerial vehicle conducts turn-back search with the lane spacing S on one side of the main shaft in a search and rescue area, the length of a search line is L1, the speed is Va, a second unmanned aerial vehicle conducts turn-back search with the lane spacing S on the other side of the main shaft in the search and rescue area, the length of the search line is L1, the speed is Va, and when multiple unmanned aerial vehicles are arranged on each side of the search main shaft, calculation is conducted according to a parallel formation mode.
(4) The multi-boat-multi-airplane sidewise formation comprises a plurality of search and rescue main shafts, unmanned boats cruise along the search main shafts at the speed of Vs, the unmanned planes perform turn-back search with the air route spacing of S by taking the main shafts as the center in a search and rescue area, the length of the search line is L2, the speed is Va, or the combination calculation according to the modes is performed.
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| CN112015182A (en) * | 2020-09-03 | 2020-12-01 | 上海大学 | Unmanned plane-based unmanned ship formation patrol control system and control method |
| CN112130566A (en) * | 2020-09-18 | 2020-12-25 | 上海大学 | Unmanned ship, unmanned plane hybrid formation control method and control system thereof based on fuzzy logic and sliding mode control strategy |
| CN112527019A (en) * | 2020-12-31 | 2021-03-19 | 上海大学 | Heterogeneous unmanned system cooperative formation control system suitable for severe sea conditions and control method thereof |
| CN115580833A (en) * | 2022-11-22 | 2023-01-06 | 湖南工商大学 | Multifunctional monitoring and early warning multifunctional cooperative system |
| CN115691232A (en) * | 2023-01-03 | 2023-02-03 | 中国电子科技集团公司第二十八研究所 | Helicopter deployment method for multiple types of areas |
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