CN111538339A - Ship track control method and device - Google Patents
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Abstract
The invention provides a ship track control method and a ship track control device, which relate to the technical field of ship control and comprise the steps of determining the current-time course of a ship, the current-time expected position and the previous-time expected position; determining a course deviation angle based on the course at the current moment, the expected position at the current moment and the expected trajectory line corresponding to the expected position at the previous moment; based on the heading deviation angle, a course line of the vessel is controlled to approach the desired course line. Therefore, the sight angle of the ship is controlled to face the expected position to drive, the complexity of a control algorithm is reduced, and the control efficiency is improved.
Description
Technical Field
The invention relates to the technical field of ship control, in particular to a ship track control method and a ship track control device.
Background
The existing track tracking method adopts a separate control scheme, a track controller is decomposed into a rudder angle control ring, a course control ring and a track control ring, the structure of the track tracking method is that the track control ring is depended on by mutual nesting among the rings, so that a closed system is finally formed, a ship position obtained by combining a navigation system is compared with a planned route to obtain the current deviation information of the ship track, and the course is instructed to the course control ring to be depended on a related control algorithm, so that the ship runs along the course, and the aim of eliminating the deviation is fulfilled. The control scheme can well realize the control of course errors and track errors, and realizes the separation of course and track through the functions of course control and control, the scheme is close to reality and easy to realize, but the spatial redundancy of course control algorithm is increased, the spatial complexity of software programming is increased, the control precision is lower, and meanwhile, the number of times and frequency of helming are increased in the parameter adjustment of the course control loop controller, thereby causing mechanical wear and resource waste.
Disclosure of Invention
The invention aims to provide a ship track control method and a ship track control device, which are used for relieving the technical problem of complex control algorithm in the prior art.
In a first aspect, an embodiment of the present invention provides a ship track control method, including:
determining the course of the ship at the current moment, the expected position of the ship at the current moment and the expected position of the ship at the previous moment;
determining a course deviation angle based on the course at the current moment, the expected position at the current moment and the expected trajectory line corresponding to the expected position at the previous moment;
based on the heading deviation angle, a course line of the vessel is controlled to approach the desired course line.
In an alternative embodiment, the step of determining the heading deviation angle based on the heading at the current time and the expected trajectory line corresponding to the expected location at the current time and the expected location at the previous time comprises:
determining a desired trajectory line based on the desired location at the current time and the desired location at the previous time;
the desired line of sight angle α is determined based on the following equationφ：
Wherein, αkIs the angle between the north and the south of the earth coordinate system and the expected trajectory, e1Is the transverse following error of the ship;
determining a heading deviation angle Ψ e based on the following formula:
where Ψ is the heading at the current time.
In an alternative embodiment, the step of controlling the course of the vessel to approach the desired course based on the heading deviation angle comprises:
determining an expected state vector based on the course deviation angle, wherein the state vector comprises a ship steering speed, a course angle and a feedback rudder angle;
controlling a trajectory of the vessel to approach the desired trajectory based on the desired state vector.
In an alternative embodiment, the step of controlling the course of the vessel towards the desired course based on the desired state vector comprises:
determining a current state vector of the ship;
determining a state vector error based on the current state vector and the expected state vector;
determining an instruction abstract rudder speed corresponding to the optimal performance index based on the state vector error;
determining an instruction abstract rudder angle for the instruction abstract rudder speed integral;
determining a globally optimal commanded rudder angle based on the commanded abstract rudder angle;
and controlling the rudder angle of the ship based on the commanded rudder angle.
In an optional embodiment, the step of determining the command abstract rudder speed corresponding to the optimal performance index based on the state vector error includes:
and calculating the instruction abstract rudder speed by applying an optimal course control algorithm according to the linearized ship model based on the state vector error.
In an alternative embodiment, prior to the step of determining the desired state vector based on the heading deviation angle, the state vector comprising the vessel steering rate, the heading angle, and the feedback rudder angle, the method further comprises:
detecting a rudder angle through an angle sensor, and determining a feedback rudder angle;
and acquiring the heading angle of the ship based on the differential GPS.
In a second aspect, an embodiment of the present invention provides a ship track control device, including:
the first determining module is used for determining the course of the ship at the current moment, the expected position of the ship at the current moment and the expected position of the ship at the previous moment;
the second determining module is used for determining a course deviation angle based on the course at the current moment, the expected position at the current moment and the expected trajectory line corresponding to the expected position at the last moment;
and the control module is used for controlling the track line of the ship to approach to the expected track line based on the course deviation angle.
In an optional embodiment, the control module is specifically configured to:
determining an expected state vector based on the course deviation angle, wherein the state vector comprises a ship steering speed, a course angle and a feedback rudder angle;
controlling a trajectory of the vessel to approach the desired trajectory based on the desired state vector.
In a third aspect, an embodiment of the present invention provides a computer device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method in any one of the foregoing embodiments when executing the computer program.
In a fourth aspect, embodiments of the invention provide a computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the method of any of the preceding embodiments.
The invention provides a ship track control method and a ship track control device. Determining the course of the ship at the current moment, the expected position of the ship at the current moment and the expected position of the ship at the previous moment; determining a course deviation angle based on the course at the current moment, the expected position at the current moment and the expected trajectory line corresponding to the expected position at the previous moment; based on the heading deviation angle, a course line of the vessel is controlled to approach the desired course line. Therefore, the sight angle of the ship is controlled to face the expected position to drive, the complexity of a control algorithm is reduced, and the control efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a ship track control method according to an embodiment of the present disclosure;
fig. 2 is a schematic example of a ship track control method according to an embodiment of the present disclosure;
fig. 3 is a flowchart of an example of a ship track control method according to an embodiment of the present application;
fig. 4 is another schematic example of a ship track control method provided in an embodiment of the present application;
fig. 5 is another example of a flow of a ship track control method according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a ship track control device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 1 is a schematic flow chart of a ship track control method according to an embodiment of the present invention. The method is applied to a computer, which can be installed on a ship for controlling the ship, and as shown in fig. 1, the method can include:
s110, determining the course of the ship at the current moment, the expected position at the current moment and the expected position at the previous moment;
the course of the current moment can be the driving direction of the ship, and the course can be determined according to the current position and the position of the previous moment.
Under known course conditions, the desired location for the current time and the desired location for the previous time may be determined from the known course.
S120, determining a course deviation angle based on the course at the current moment, the expected position at the current moment and the expected trajectory line corresponding to the expected position at the previous moment;
under the condition of a known course, the ship track control loop can firstly carry out track calculation, and in the embodiment of the invention, LOS (line of sight) algorithm can be adopted for calculation. By keeping the vessel heading aligned with the LOS angle, which may be referred to as the desired line of sight angle, the controlled vessel can reach the desired position.
For example, the expected position of the track following current time can be written as: pk+1＝[xk+1,yk+1]T(ii) a The desired position at the last moment may be noted as: pk＝[xk,yk]TAnd the current position of the controlled ship is recorded as P ═ x, y]TThe LOS angle can then be calculated by the following equation:
in equation (one) /)LOs∈[-π，π]LOS angle.
Based on the difference of the current time course and the LOS angle, a course deviation angle may be determined.
And S130, controlling the course of the ship to approach to the expected course based on the course deviation angle.
The vessel may be controlled to eliminate the heading deviation angle such that the vessel navigates to the desired course line and eventually reaches the destination.
According to the embodiment of the invention, the line-of-sight angle of the ship is controlled to face the expected position to drive, so that the complexity of a control algorithm is reduced, and the control efficiency is improved.
The principle diagram of the control method of the invention is shown in fig. 2, and the track controller and the course control ring are not nested any more, but are selected for use according to the specific state of the ship.
Referring to fig. 2, for the flight path design belonging to the upper computer calculation content, a flight path instruction is sent to the flight path controller. For the above steps S110-S130, mainly the track calculation is implemented.
The following further describes the track calculation with reference to fig. 3 and 4, the LOS algorithm is assisted by introducing a visible distance Δ, where the distance Δ between the desired heading point and the projection point of the current position of the ship on the desired track is Δ nLpp, n is 2-5, and Lpp is the ship length, and based on this, the step S130 may specifically be implemented by the following steps:
s310, determining an expected trajectory line based on the expected position at the current moment and the expected position at the last moment;
s320, determining the expected line-of-sight angle α based on the following formula (II)φ：
Wherein, in the formula (II), αkIs the angle between the north and the south of the earth coordinate system and the expected trajectory, e1Is the transverse following error of the ship.
S330, determining a heading deviation angle psi based on the following formula (III)e：
Where Ψ is the heading at the current time.
In addition, control ΨeWhen the direction of the target course approaches zero, the self-navigation model drives to the target course point, and finally the expected track is achieved.
In some embodiments, referring to fig. 2, the rudder angle may be directly controlled by the track controller to eliminate the track deviation, as shown in fig. 4, the step S130 may be specifically implemented by:
s510, determining an expected state vector based on the course deviation angle, wherein the state vector comprises a ship steering speed, a heading angle and a feedback rudder angle;
the rudder angle can be detected through an angle sensor on the ship, and a feedback rudder angle is determined; the heading angle of the ship can be acquired based on the differential GPS. The ship steering speed can be obtained by calculation according to the heading deviation angle. The expected state vector is used for controlling the ship to drive towards the target heading point.
And S520, controlling the track line of the ship to approach the expected track line based on the expected state vector.
The state vector of the vessel may be controlled towards the desired state vector in order to control the course of the vessel towards the desired course. Based on this, the step S320 can be specifically realized by the following steps:
step 1), determining a current state vector of a ship;
the state space equation of the ship is shown as the following formula (four):
wherein, in the formula (IV), X represents the current state vector,
representing an expected state vector, wherein X is (r psi)', r represents a steering speed of the ship, psi represents a heading angle of the ship and represents a feedback rudder angle; u is a control quantity and represents the command rudder speed of the ship; a and B represent coefficient matrices associated with a mathematical model of the vessel.
Step 2), determining a state vector error based on the current state vector and the expected state vector;
the purpose of the optimal control is to make the state vector X eventually reach the desired state
Namely, the steering speed and the heading angle of the ship reaching instructions are controlled, and finally, the steering engine of the ship is enabled to return to zero and be centered. According to the current state vector X and the expected state of the ship
The following state vector error e can be derived2：
Step 3), determining an instruction abstract rudder speed corresponding to the optimal performance index based on the state vector error;
according to the optimal control theory, an integral type performance index is adopted, which is shown as the following formula (six):
q is a third-order diagonal matrix, values on the main diagonal represent weighting coefficients, and the optimization effect of the state quantity corresponding to the larger coefficient is more ideal. R represents the weighting coefficient of the steering speed, and the larger R represents the smoother steering process of the steering engine and the better steering performance.
When the performance index J reaches a minimum value, the following control instructions are obtainedc：
uc＝-R-1B′Pe2Formula (seven)
Where P can be obtained by solving the algebraic Likati equation (ARE). Thus, iscThe rudder speed can be controlled directly.
And calculating the instruction abstract rudder speed by applying an optimal course control algorithm according to the linearized ship model based on the state vector error.
For example, according to the nonlinear ship model, the response function is shown in the following formula (eight):
t, K, K thereinvThe calculation formula (nine) is as follows:
according toLinearizing ship model, applying optimal course control algorithm, and calculating command abstract rudder speed u of shipc。
Step 4), determining an instruction abstract rudder angle for the instruction abstract rudder speed integral;
the instruction abstract rudder speed integral obtaining instruction abstract rudder angle can be determined according to the formula (ten):
in the formula (ten), k1、k2And k3The control coefficient calculated by the optimal control algorithm can be obtained by solving an algebraic licarbat equation (ARE).
Step 5), determining a globally optimal command rudder angle based on the command abstract rudder angle;
finally, according to the non-linearity Kvv calculating the rudder angle of shipcThe calculation formula (eleven) is as follows:
and calculating a command rudder angle which meets the global optimum of the ship steering speed, the heading angle, the rudder angle and the rudder speed through a linearized ship motion reference model.
And 6), controlling the rudder angle of the ship based on the command rudder angle.
As shown in fig. 2, the commanded rudder angle may act on a rudder angle controller to control the rudder angle.
The track controller adopts a linear quadratic optimal control method (LQR) to calculate the instructed rudder angle of the ship and control the steering of the steering engine so as to realize course tracking control of the ship, and the basic control aim is to comprehensively plan the performance of the heading and the rotating speed rate of the ship and reduce the steering times and the steering amplitude. The redundancy of the course control algorithm on the space is reduced, the space complexity of software programming is reduced, and the control precision is improved. The rudder striking times and frequency are reduced, so that the mechanical wear and the resource waste are reduced.
In the embodiment of the invention, the track control loop and the course control loop can be selectively used; and a comprehensive control scheme is adopted, and the track tracking control is carried out through the steering speed, the heading angle, the rudder angle and the command rudder angle with the globally optimal rudder speed.
The embodiment of the invention eliminates the track deviation by directly controlling the rudder angle, establishes the relation between the rudder angle, the yaw angular velocity, the track deviation and the like, and comprehensively considers the parameters of position, direction and velocity, thereby achieving excellent control performance. The ship dynamic parameter calculation method has obvious advantages in a high-precision state, but the accurate dynamic parameters of the ship and the expression of the performance index cannot be accurately calculated.
Fig. 6 is a schematic structural diagram of a ship track control device according to an embodiment of the present invention.
As shown in fig. 6, the apparatus includes:
the first determining module 601 is configured to determine a current-time heading of the ship, a current-time expected position, and a previous-time expected position;
a second determining module 602, configured to determine a heading deviation angle based on the heading at the current time and the expected trajectory line corresponding to the expected position at the current time and the expected position at the previous time;
a control module 603 for controlling a course of the vessel to approach a desired course based on the heading deviation angle.
In some embodiments, the control module 603 is specifically configured to:
determining an expected state vector based on the course deviation angle, wherein the state vector comprises a ship steering speed, a course angle and a feedback rudder angle;
controlling a trajectory of the vessel to approach the desired trajectory based on the desired state vector.
In some embodiments, the control module 603 is specifically configured to:
determining a current state vector of the ship;
determining a state vector error based on the current state vector and the expected state vector;
determining an instruction abstract rudder speed corresponding to the optimal performance index based on the state vector error;
determining an instruction abstract rudder angle for the instruction abstract rudder speed integral;
determining a globally optimal commanded rudder angle based on the commanded abstract rudder angle;
and controlling the rudder angle of the ship based on the commanded rudder angle.
In some embodiments, the control module 603 is specifically configured to:
and calculating the instruction abstract rudder speed by applying an optimal course control algorithm according to the linearized ship model based on the state vector error.
In some embodiments, the control module 603 is specifically configured to:
detecting a rudder angle through an angle sensor, and determining a feedback rudder angle;
and acquiring the heading angle of the ship based on the differential GPS.
The ship track control device provided by the embodiment of the application has the same technical characteristics as the ship track control method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects are achieved.
As shown in fig. 7, an embodiment of the present application provides a computer device 700, including: the processor 701, the memory 702 and the bus, the memory 702 stores machine readable instructions executable by the processor 701, when the electronic device is operated, the processor 701 communicates with the memory 702 through the bus, and the processor 701 executes the machine readable instructions to execute the steps of the ship track control method. Wherein the computer device 700 may be mounted on a vessel for controlling the vessel.
The embodiment of the invention also provides a ship. This boats and ships include: the system comprises a flight path computing device, a flight path control device and a course control ring, wherein the flight path computing device is connected with the flight path control device and the course control ring, the flight path control device is connected with the course control ring and a switching device, and the switching device is connected with a rudder angle controller;
the track calculation device is used for determining the current time course of the ship, the expected position of the current time and the expected position of the previous time; determining a course deviation angle based on the course at the current moment and the expected track line corresponding to the expected position at the current moment and the expected position at the last moment;
the track control device is used for determining an expected state vector based on the course deviation angle, and the state vector comprises a ship steering speed, a heading angle and a feedback rudder angle; controlling the rudder angle controller based on the desired state vector to achieve that the vessel's course approaches the desired course.
For example, as shown in connection with FIG. 2, the vessel may include a course design device, a track calculation device, a track controller, a rudder angle controller, and a heading control loop, wherein the course design device, the track calculation device, the track controller, the rudder angle controller, and the heading control loop may all be implemented by the computer apparatus shown in FIG. 7. In addition, the vessel may further include a rudder angle sensor and a DGPS.
The rudder angle sensor is used for detecting a rudder angle and feeding back rudder angle information to the rudder angle controller.
The DGPS (obtains the position, heading and other information of the controlled ship in real time and feeds back the information to the track calculation.
Specifically, the memory 702 and the processor 701 can be general-purpose memory and processor, which are not limited in particular, and the ship track control method can be executed when the processor 701 runs a computer program stored in the memory 702.
Corresponding to the ship track control method, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores machine executable instructions, and when the computer executable instructions are called and executed by the processor, the computer executable instructions cause the processor to execute the steps of the ship track control method.
The ship track control device provided by the embodiment of the application can be specific hardware on equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of one logic function, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the mobile control method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the technical solutions of the present application, and the scope of the present application is not limited thereto, although the present application is described in detail with reference to the foregoing examples, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the scope of the embodiments of the present application. Are intended to be covered by the scope of the present application.
Claims (10)
1. A ship track control method is characterized by comprising the following steps:
determining the course of a ship at the current moment, the expected position of the ship at the current moment and the expected position of the ship at the previous moment;
determining a course deviation angle based on the course at the current moment and the expected track line corresponding to the expected position at the current moment and the expected position at the last moment;
controlling a course of the vessel to approach the desired course based on the heading deviation angle.
2. The method of claim 1, wherein determining a heading deviation angle based on the heading at the current time and the expected trajectory line corresponding to the expected location at the current time and the expected location at the previous time comprises:
determining a desired trajectory line based on the desired location at the current time and the desired location at the previous time;
the desired line of sight angle α is determined based on the following equationφ：
Wherein, αkIs the angle between the true north of the geodetic coordinate system and the expected course, e1Is a stand forA lateral following error of the vessel;
determining heading deviation angle Ψ based on the following equatione：
And Ψ is the heading of the current moment.
3. The method of claim 1, wherein the step of controlling the vessel's trajectory toward the desired trajectory based on the heading deviation angle comprises:
determining an expected state vector based on the course deviation angle, wherein the state vector comprises a ship steering speed, a course angle and a feedback rudder angle;
controlling a trajectory of the vessel to approach the desired trajectory based on the desired state vector.
4. The method of claim 3, wherein the step of controlling the vessel's trajectory toward the desired trajectory based on the desired state vector comprises:
determining a current state vector of the vessel;
determining a state vector error based on the current state vector and the desired state vector;
determining an instruction abstract rudder speed corresponding to the optimal performance index based on the state vector error;
determining an instruction abstract rudder angle for the instruction abstract rudder speed integral;
determining a globally optimal commanded rudder angle based on the commanded abstract rudder angle;
and controlling the rudder angle of the ship based on the command rudder angle.
5. The method of claim 4, wherein the step of determining the command abstract rudder speed corresponding to the optimal performance index based on the state vector error comprises:
and calculating the command abstract rudder speed by applying an optimal course control algorithm according to a linearized ship model based on the state vector error.
6. The method of claim 3, wherein prior to the step of determining a desired state vector based on the heading bias angle, the state vector comprising a vessel steering rate, a heading angle, and a feedback rudder angle, the method further comprises:
detecting a rudder angle through an angle sensor, and determining a feedback rudder angle;
and acquiring the heading angle of the ship based on the differential GPS.
7. A ship track control device, comprising:
the first determining module is used for determining the course of the ship at the current moment, the expected position of the ship at the current moment and the expected position of the ship at the previous moment;
the second determining module is used for determining a course deviation angle based on the course at the current moment and the expected trajectory line corresponding to the expected position at the current moment and the expected position at the last moment;
and the control module is used for controlling the navigation track line of the ship to approach to the expected navigation track line based on the course deviation angle.
8. A marine vessel, comprising: the system comprises a flight path computing device, a flight path control device and a course control ring, wherein the flight path computing device is connected with the flight path control device and the course control ring, the flight path control device is connected with the course control ring and a switching device, and the switching device is connected with a rudder angle controller;
the track calculation device is used for determining the current-time course of the ship, the expected position of the current time and the expected position of the previous time; determining a course deviation angle based on the course at the current moment and the expected track line corresponding to the expected position at the current moment and the expected position at the last moment;
the track control device is used for determining an expected state vector based on the course deviation angle, and the state vector comprises a ship steering speed, a heading angle and a feedback rudder angle; controlling the rudder angle controller based on the desired state vector to achieve that the vessel's course approaches the desired course.
9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to execute the method of any of claims 1 to 6.
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