CN111623781A - Real-time path navigation method and system for wave glider - Google Patents
Real-time path navigation method and system for wave glider Download PDFInfo
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- 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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Abstract
The invention discloses a real-time path navigation method and a system for a wave glider, wherein the real-time path navigation method comprises the following steps: step S1: acquiring first position information of the wave glider at the current position and second position information of a target track point in the advancing process; step S2: obtaining an expected course from the current position to a target course point through a path navigation control law according to the first position information and the second position information; step S3: and obtaining a rudder angle increment required along the expected course according to the course of the wave glider at the current position and the expected course, and controlling the wave glider to advance to the target track point according to the rudder angle increment.
Description
Technical Field
The invention relates to the field of real-time path navigation, in particular to a real-time path navigation method and a real-time path navigation system for a wave glider.
Background
In the sea-air interface observation, the wave energy glider is a wave-driven and solar-powered ocean mobile platform which can completely run by means of natural energy for a long period. The wave glider is an under-actuated nonlinear system, the control input quantity of the system is less than the output quantity, the control motion of the system is coupled, the wave glider is subjected to environmental interference such as time-varying wave current in the sea, the system has the characteristics of time ductility and hysteresis, the hydrodynamic coefficient of the system has uncertainty, and the wave glider is always in a motion state on the sea surface but is difficult to travel according to an expected path. Therefore, how to design an accurate and reliable real-time path navigation method and system of the wave glider to meet the requirement that the application of path navigation in practical engineering is a necessary way for the development of the wave energy glider control field.
Disclosure of Invention
In view of the above problems, the present invention provides a real-time path navigation method for a wave glider, which includes:
step S1: acquiring first position information of the wave glider at the current position and second position information of a target track point in the advancing process;
step S2: obtaining an expected course from the current position to the target track point through a path navigation control law according to the first position information and the second position information;
step S3: and acquiring a rudder angle increment required along the expected course according to the course of the wave glider at the current position and the expected course, and controlling the wave glider to advance to the target track point according to the rudder angle increment.
The real-time path navigation method further includes:
step S4: and judging whether the wave glider reaches the target track point in real time according to the first position information and the second position information.
In the above real-time route guidance method, in step S1, the first position information includes longitude and latitude of the wave glider, and the second position information includes longitude and latitude of the target track point.
In the above real-time path navigation method, in step S2, the distance from the current position to the target track point and the expected heading angle are obtained by using a gaussian-geodetic theme reverse-solution heading tracking algorithm according to the first position information and the second position information.
In the real-time route guidance method, step S3 includes:
step S31: acquiring a course angle of the wave glider at the current position;
step S32: obtaining the rudder angle increment of the steering engine turning angle required for recovering to the expected course through a GBPID algorithm according to the course angle of the current position, the distance to the target course point and the expected course angle;
step S33: and obtaining a steering angle according to the current steering angle and the steering angle increment, and controlling the wave glider to execute a steering action by adjusting the steering angle so as to advance to the target track point.
In the real-time route guidance method, step S33 further includes: and judging the rudder angle increment according to the rudder angle increment range, obtaining a steering angle according to the current rudder angle and the rudder angle increment when the rudder angle increment exceeds the rudder angle increment range, and controlling the wave glider to execute steering action by adjusting the steering angle.
The present invention also provides a real-time path navigation system for a wave glider, comprising:
a first position information obtaining unit which obtains first position information of the wave glider at the current position in the traveling process;
a second position information obtaining unit that obtains second position information of a target track point of the wave glider;
the expected course obtaining unit is used for obtaining an expected course from the current position to the target course point through a path navigation control law according to the first position information and the second position information;
and the control unit is used for obtaining a rudder angle increment required along the expected course according to the course of the wave glider at the current position and the expected course and controlling the wave glider to advance to the target track point according to the rudder angle increment.
The real-time route guidance system further includes:
and the judging unit is used for judging whether the wave glider reaches the target track point in real time according to the first position information and the second position information.
In the real-time path navigation system, the first position information includes longitude and latitude of the wave glider, and the second position information includes longitude and latitude of the target track point.
In the real-time route navigation system, the expected course obtaining unit obtains the distance from the current position to the target course point and the expected course angle through a gaussian-geodetic theme inverse solution tracking algorithm according to the first position information and the second position information.
The real-time route guidance system described above, wherein the control unit includes:
the course angle obtaining module is used for obtaining the course angle of the wave glider at the current position;
the calculation module is used for obtaining the rudder angle increment of the steering engine turning angle required for recovering to the expected course through a GBPID algorithm according to the course angle of the current position, the distance to the target course point and the expected course angle;
and the main control module obtains a steering angle according to the current rudder angle and the rudder angle increment, and controls the wave glider to execute a steering action by adjusting the steering angle so as to advance to the target track point.
In the real-time path navigation system, the main control module determines the rudder angle increment according to a rudder angle increment range, obtains a rudder angle according to a current rudder angle and the rudder angle increment when the rudder angle increment exceeds the rudder angle increment range, and controls the wave glider to execute a rudder action by adjusting the rudder angle.
In summary, compared with the prior art, the invention has the following effects: the real-time path navigation method and system for the wave glider are provided to meet the application of wave glide to path navigation in practical engineering, so that the reliability of real-time path tracking of the wave glider is further improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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 those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a flow chart of a real-time path navigation method of the present invention;
FIG. 2 is a flowchart of step S3 in FIG. 1;
FIG. 3 is a schematic structural diagram of a real-time route guidance system according to the present invention.
Wherein the reference numerals are;
a first position information obtaining unit: 11;
a second position information obtaining unit: 12;
a desired heading obtaining unit: 13;
a control unit: 14;
a course angle obtaining module: 141, a solvent;
a calculation module: 142;
the main control module: 143;
a judging unit: 15.
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. 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.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
References to "a plurality" herein include "two" and "more than two".
Referring to fig. 1, fig. 1 is a flowchart illustrating a real-time route navigation method according to the present invention. As shown in fig. 1, the real-time path navigation method of the present invention includes:
step S1: acquiring first position information of the wave glider at the current position and second position information of a target track point in the advancing process;
the first position information comprises longitude and latitude of the wave glider, and the second position information comprises longitude and latitude of the target track point. In this embodiment, fix a position in real time through big dipper communication unit and acquire the longitude and the latitude of wave glider in the in-process of marcing of wave glider, the longitude and the latitude of target track point are acquired through the track point database of wave glider, specifically speaking, big dipper communication unit sets up on wave glider's floating body ship, fix a position in real time and acquire the longitude and the latitude of wave glider with the frequency once per second, communicate with bank base monitoring system with the frequency of 6 times per hour, bank base monitoring system accessible big dipper communication unit remote change wave glider's track point database.
Step S2: obtaining an expected course from the current position to a target course point through a path navigation control law according to the first position information and the second position information;
in step S2, the distance from the current position to the target track point and the expected heading angle are obtained by a gaussian-geodetic theme reverse-solution look-direction tracking algorithm according to the first position information and the second position information. In this embodiment, the inverse solution view tracking algorithm of the gaussian geodetic theme selects a gaussian mean quotieth method as an algorithm for solving the geodetic distance and the geodetic azimuth, and a forward solution formula of the gaussian mean quotieth method is as follows:
wherein B1 is the geodetic latitude of the wave glider, L1 is the geodetic longitude of the wave glider, B2 is the geodetic latitude of the target course point, L2 is the geodetic longitude of the target course point, Bm＝(B1+B2) Per 2 is the mean latitude, A12,A21,Am＝(A12+A21π)/2 is the azimuth angle at the corresponding point,
tm＝tanBm,ηm＝e'cosBma, e and e' are respectively the length of a major semi-axis, the first eccentricity and the second eccentricity of the earth ellipsoid, and S is the length of an earth wire, wherein v is ScOSAm，μ＝SsinAm，
Step S3: and obtaining a rudder angle increment required along the expected course according to the course of the wave glider at the current position and the expected course, and controlling the wave glider to advance to the target track point according to the rudder angle increment.
Referring to fig. 2, fig. 2 is a flowchart of step S3 in fig. 1. As shown in fig. 2, step S3 includes:
step S31: and acquiring the course angle of the wave glider at the current position, wherein in the embodiment, the course angle of the wave glider at the current position is acquired through compass collection.
Step S32: acquiring a rudder angle increment of a steering engine turning angle required for recovering to an expected course through a GBPID algorithm according to the course angle of the current position, the distance to a target course point and the expected course angle;
step S33: and obtaining a steering angle according to the current steering angle and the steering angle increment, and controlling the wave glider to execute a steering action by adjusting the steering angle so as to advance to the target track point.
Specifically, the GBPID algorithm specifically refers to a real number coding genetic algorithm for optimizing a weight of a neural network, and is applied to a PID controller for parameter self-learning, a certain course difference exists between an expected course and a current course, firstly, the course difference is obtained according to a course angle of a current position and the expected course angle, secondly, a rudder angle increment of a steering engine turning angle required by recovering to the expected course is calculated by adopting the GBPID algorithm, then, a steering angle is calculated according to the current rudder angle and the rudder angle increment, a wave glider executes a steering action, and the glider approaches a target course point by adjusting the steering engine turning angle.
Further, step S33 includes: and judging the rudder angle increment according to the rudder angle increment range, obtaining a steering angle according to the current rudder angle and the rudder angle increment when the rudder angle increment exceeds the rudder angle increment range, and controlling the wave glider to execute steering action by adjusting the steering angle.
Specifically, in this embodiment, the rudder angle increment range is preferably [ -5 °,5 ° ], and when the rudder angle increment is within the range of [ -5 °,5 ° ], no action is performed on the steering engine of the wave glider, and when the rudder angle increment is greater than 5 ° or less than-5 °, a steering angle is obtained according to the current rudder angle and the rudder angle increment, and the steering action is performed by controlling the wave glider by adjusting the steering angle.
Step S4: and judging whether the wave glider reaches the target track point in real time according to the first position information and the second position information.
Specifically, the invention also judges whether the glider reaches the target track point in real time according to the first position information and the second position information, and when the glider reaches the target track point, the glider is automatically switched to approach the next target track point until all track points are operated.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a real-time route guidance system according to the present invention. As shown in fig. 3, the real-time path guidance system of the present invention includes:
the first position information obtaining unit 11 obtains first position information of the wave glider at the current position during traveling, wherein in the present embodiment, the first position information obtaining unit 11 is a beidou communication unit, which is a preferred embodiment.
And a second position information obtaining unit 12 for obtaining second position information of the target track point of the wave glider, wherein in the present embodiment, the second position information obtaining unit 12 is a track point database of the wave glider, which is a preferred embodiment.
And the expected course obtaining unit 13 is used for obtaining an expected course from the current position to the target course point through a path navigation control law according to the first position information and the second position information, wherein the expected course obtaining unit 13 is used for obtaining the distance from the current position to the target course point and an expected course angle through a Gauss-geodetic theme reverse-direction-of-sight tracking algorithm according to the first position information and the second position information.
And the control unit 14 is used for obtaining a rudder angle increment required along the expected course according to the course of the wave glider at the current position and the expected course, and controlling the wave glider to advance to the target course point according to the rudder angle increment.
The first position information comprises longitude and latitude of the wave glider, and the second position information comprises longitude and latitude of the target track point.
Further, the real-time route guidance system further includes:
and the judging unit 15 is used for judging whether the wave glider reaches the target track point in real time according to the first position information and the second position information.
Further, the control unit 14 includes:
a heading angle obtaining module 141, configured to obtain a heading angle of the wave glider at the current position, where in this embodiment, the heading angle obtaining module 141 is a preferred implementation manner of a compass;
the calculation module 142 obtains the rudder angle increment of the steering engine turning angle required for recovering to the expected course through a GBPID algorithm according to the course angle of the current position, the distance to the target course point and the expected course angle;
and the main control module 143 obtains a steering angle according to the current rudder angle and the rudder angle increment, and controls the wave glider to execute a steering action by adjusting the steering angle, so as to advance to the target track point.
Furthermore, the main control module 143 determines the rudder angle increment according to a rudder angle increment range, and obtains a rudder angle according to the current rudder angle and the rudder angle increment when the rudder angle increment exceeds the rudder angle increment range, and controls the wave glider to execute a rudder action by adjusting the rudder angle.
In conclusion, the wave energy glider can meet the application of the wave glider to path navigation in practical engineering, and the reliability of the wave energy glider is improved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (12)
1. A real-time path navigation method for a wave glider, comprising:
step S1: acquiring first position information of the wave glider at the current position and second position information of a target track point in the advancing process;
step S2: obtaining an expected course from the current position to the target track point through a path navigation control law according to the first position information and the second position information;
step S3: and acquiring a rudder angle increment required along the expected course according to the course of the wave glider at the current position and the expected course, and controlling the wave glider to advance to the target track point according to the rudder angle increment.
2. The real-time path navigation method of claim 1, further comprising:
step S4: and judging whether the wave glider reaches the target track point in real time according to the first position information and the second position information.
3. The real-time path guidance method according to claim 1 or 2, wherein in step S1, the first position information includes longitude and latitude of the wave glider, and the second position information includes longitude and latitude of the target track point.
4. The real-time route guidance method according to claim 3, wherein in step S2, the distance from the current position to the target course point and the desired course angle are obtained by inverse solution tracking algorithm of gauss-geodetic theme according to the first position information and the second position information.
5. The real-time path navigation method according to claim 4, wherein the step S3 includes:
step S31: acquiring a course angle of the wave glider at the current position;
step S32: obtaining the rudder angle increment of the steering engine turning angle required for recovering to the expected course through a GBPID algorithm according to the course angle of the current position, the distance to the target course point and the expected course angle;
step S33: and obtaining a steering angle according to the current steering angle and the steering angle increment, and controlling the wave glider to execute a steering action by adjusting the steering angle so as to advance to the target track point.
6. The real-time path guidance method according to claim 5, wherein the step S33 further includes: and judging the rudder angle increment according to the rudder angle increment range, obtaining a steering angle according to the current rudder angle and the rudder angle increment when the rudder angle increment exceeds the rudder angle increment range, and controlling the wave glider to execute steering action by adjusting the steering angle.
7. A real-time path navigation system for a wave glider, comprising:
a first position information obtaining unit which obtains first position information of the wave glider at the current position in the traveling process;
a second position information obtaining unit that obtains second position information of a target track point of the wave glider;
the expected course obtaining unit is used for obtaining an expected course from the current position to the target course point through a path navigation control law according to the first position information and the second position information;
and the control unit is used for obtaining a rudder angle increment required along the expected course according to the course of the wave glider at the current position and the expected course and controlling the wave glider to advance to the target track point according to the rudder angle increment.
8. The real-time path navigation system of claim 7, further comprising:
and the judging unit is used for judging whether the wave glider reaches the target track point in real time according to the first position information and the second position information.
9. The real-time path navigation system of claim 7 or 8, wherein the first location information includes longitude and latitude of the wave glider, and the second location information includes longitude and latitude of the target track point.
10. The real-time route guidance system of claim 9, wherein the expected heading obtaining unit obtains a distance from the current position to the target heading point and an expected heading angle by a gaussian-geodetic subject inverse solution heading tracking algorithm according to the first position information and the second position information.
11. The real-time path navigation system of claim 10, wherein the control unit comprises:
the course angle obtaining module is used for obtaining the course angle of the wave glider at the current position;
the calculation module is used for obtaining the rudder angle increment of the steering engine turning angle required for recovering to the expected course through a GBPID algorithm according to the course angle of the current position, the distance to the target course point and the expected course angle;
and the main control module obtains a steering angle according to the current rudder angle and the rudder angle increment, and controls the wave glider to execute a steering action by adjusting the steering angle so as to advance to the target track point.
12. The real-time path navigation system of claim 11, wherein the main control module determines the rudder angle increment according to a rudder angle increment range, obtains a steering angle according to a current rudder angle and the rudder angle increment when the rudder angle increment exceeds the rudder angle increment range, and controls the wave glider to perform a steering action by adjusting the steering angle.
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