CN111780767A - Unmanned ship position accuracy judging and controlling system based on navigational speed - Google Patents

Unmanned ship position accuracy judging and controlling system based on navigational speed Download PDF

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Publication number
CN111780767A
CN111780767A CN202010654700.8A CN202010654700A CN111780767A CN 111780767 A CN111780767 A CN 111780767A CN 202010654700 A CN202010654700 A CN 202010654700A CN 111780767 A CN111780767 A CN 111780767A
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China
Prior art keywords
unmanned ship
position information
speed
ship
task processing
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CN202010654700.8A
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Chinese (zh)
Inventor
李哲
韩玮
谢杨柳
王伟
胥风驰
马向峰
梁旭
曾江峰
王千一
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CSSC Systems Engineering Research Institute
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CSSC Systems Engineering Research Institute
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Application filed by CSSC Systems Engineering Research Institute filed Critical CSSC Systems Engineering Research Institute
Priority to CN202010654700.8A priority Critical patent/CN111780767A/en
Publication of CN111780767A publication Critical patent/CN111780767A/en
Pending legal-status Critical Current

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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
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Abstract

The invention relates to an unmanned ship position accuracy judging and controlling system based on navigational speed. The unmanned ship real-time position data accuracy is judged based on the speed, and when the position information at a certain moment is determined to be inaccurate, the task processing system sends a ship stopping instruction to the navigation control system, so that the task of the unmanned ship is finished. By adopting the method, when the unmanned ship is sheltered by a tall ship, complicated climate or electromagnetic interference on the sea, the position information provided by the positioning system is wrong, and the loss of the unmanned ship and even the collision danger are avoided.

Description

Unmanned ship position accuracy judging and controlling system based on navigational speed
Technical Field
The invention belongs to the technical field of unmanned ship position positioning, and particularly relates to an unmanned ship position accuracy judging and controlling technology based on a navigational speed.
Background
When the unmanned ship sails autonomously on the sea and executes tasks such as detection and the like, the unmanned ship is widely applied to the field of water surface detection due to the advantages of strong adaptability, strong maneuverability and the like.
When the unmanned ship autonomously executes tasks, the unmanned ship seriously depends on positioning information provided by a self navigation positioning system, and the task planning is required by the aid of the positioning information, so that the navigation positioning system plays a vital role in the unmanned ship. When the unmanned ship is sheltered by tall ships, complicated climate or electromagnetic interference on the sea, if the position information provided by the positioning system is wrong, the unmanned ship is lost, and the collision danger is seriously generated. Therefore, the accuracy of the positioning information of the unmanned ship needs to be determined so as to realize the control of the unmanned ship.
At present, the accuracy of the judgment method aiming at the positioning information stays at the satellite positioning precision level, and the judgment method cannot be suitable for correctly judging a moving object. For example, patent CN104714240A provides a method for determining accuracy of GPS positioning information, which includes the following steps: recording a horizontal positioning precision parameter EPH, a vertical positioning precision parameter EPV and the number of visible satellites of the GPS receiver; acquiring the differential of a horizontal positioning precision parameter EPH and a vertical positioning precision parameter EPV; and (4) setting a threshold value according to the differential change of the EPH/EPV and the number of the current visible satellites, and judging the accuracy of the GPS positioning information. According to the method for judging the accuracy of the GPS positioning information, provided by the embodiment of the invention, the accuracy of the positioning information of the unmanned aerial vehicle provided by the GPS receiver can be quickly detected, the adverse effect on the flight control of the unmanned aerial vehicle caused by the fact that the position information provided by the GPS is in a grey zone is reduced, and the flight safety of the unmanned aerial vehicle is improved. However, the method does not combine the motion condition of the unmanned aerial vehicle to judge the correctness of the positioning information, and when the positioning information is disturbed due to long-term high-precision, the abnormity of the positioning information is difficult to find, so that the collision danger of the unmanned aerial vehicle is possibly caused.
Disclosure of Invention
The invention provides an unmanned ship position accuracy judging and controlling system which can judge the position information of an unmanned ship in motion accurately and control the unmanned ship according to the judging result.
The invention relates to an unmanned ship position accuracy judging and controlling system based on navigational speed, which is characterized by comprising navigation positioning equipment, task processing equipment and navigation control equipment;
the navigation positioning equipment acquires and provides unmanned ship position information for the task processing equipment;
the task processing equipment calculates the navigational speed in each fixed monitoring period according to the position information of the unmanned ship provided by the navigation positioning equipment, and the navigational speed is VnThe reasonability of the unmanned ship is judged according to the accuracy of the unmanned ship position information;
the navigation control equipment controls the power of the unmanned ship according to the judgment result of the task processing equipment; when the position information of the unmanned ship is judged to be accurate, the unmanned ship continues to sail, and when the position information of the unmanned ship is judged to be inaccurate, the unmanned ship stops sailing.
As a preferred scheme, the navigational speed V in the period of fixed monitoringnThe rationality judgment method of (1) is as follows:
at Vn≤(Vs-Vt) Or Vn≥(Vs+Vt) In case of this, the speed V is recognizednUnreasonable, wherein Vn＝Ln/T＝Vn，LnThe distance traveled by the unmanned ship is monitored for one monitoring period, T is the time of one monitoring period, VsIs the set speed of the boat, VtIs a speed error threshold.
The unmanned ship real-time position data accuracy is judged based on the speed, and when the position information at a certain moment is determined to be inaccurate, the task processing system sends a ship stopping instruction to the navigation control system, so that the task of the unmanned ship is finished. By adopting the method, when the unmanned ship is sheltered by a tall ship, complicated climate or electromagnetic interference on the sea, the position information provided by the positioning system is wrong, and the loss of the unmanned ship and even the collision danger are avoided.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of the present invention;
FIG. 3VnA schematic diagram of the method is obtained.
Detailed Description
As shown in fig. 1 and fig. 2, the unmanned surface vehicle position accuracy determining and controlling system based on navigational speed of the present invention includes a navigation positioning device, a task processing device and a navigation control device, and the devices can communicate with each other through an RJ45 ethernet:
the navigation positioning equipment acquires and provides unmanned ship position information to the task processing equipment. The navigation positioning equipment can be a Beidou navigation positioning system, can acquire the position and speed information of the unmanned ship in real time, and sends the position and speed information to the task processing system at the frequency of 10 HZ.
And the task processing equipment judges the accuracy of the unmanned ship position information according to the unmanned ship position information provided by the navigation positioning equipment. The task processing equipment is used for processing the navigation speed V in each fixed monitoring period according to the unmanned shipnWhether the unmanned ship is reasonable or not is judged according to the accuracy of the unmanned ship position information provided by the navigation positioning equipment, and the specific judgment method comprises the following steps:
at Vn≤(Vs-Vt) Or Vn≥(Vs+Vt) In case of this, the speed V is recognizednUnreasonable, wherein Vn＝Ln/T＝Vn，LnThe distance traveled by the unmanned ship is monitored for one monitoring period, T is the time of one monitoring period, VsFor setting the speed of the boat, VtIs a speed error threshold. In (V)s+Vt)＞Vn＞(Vs-Vt) In case of this, the speed V is recognizednAnd (4) the method is reasonable.
The above method is explained below:
task processing system bitSetting the information judgment time with timestamp tnThe timestamp of the last judgment time is tn-1At tnAt the moment, suppose unmanned boat tnThe position of time is A, tn-1The time position is B, tnAnd tn-1The moment is an inherent monitoring period T, and the longitude and latitude of the point A are judged every T time.
The judging method comprises the following steps: at tnThe distance L between the two points AB is obtained according to the longitude and latitude at any momentnUsing the formula Ln/T＝VnCalculating the average speed of the T time period and the acceleration error threshold value V of the set speed Vs of the boattWhen V is compared withn≥(Vs+Vt) Or Vn≤(Vs-Vt) I.e. the average speed in the time period is greater than the set navigational speed or less than the set navigational speed, let t be considerednAnd when the position information at the moment is inaccurate, the task processing system sends a ship stopping instruction to the navigation control system, so that the task of the unmanned ship is finished. The calculation process is as follows:
as shown in fig. 3, according to the trigonometric cosine formula: cos (c) (a) × cos (B) (+ sin (a)) sin (B) (a-OC-B), where a-OC-B are dihedral angles of the plane AOC and the plane BOC, known data is substituted to obtain cos (c) ((90-Bw) ((90-Aw)) cos (90-Aw) + (90-Bw) ((90-Aw)) (cos (Bj-Aj), and the degree of the dihedral angles a-OC-B is the difference between the two longitude points. And (3) solving the degree of c by using an inverse cosine function, converting the degree into radian, and multiplying the radian by the radius of the earth to obtain the spherical distance between two points:
c＝arccos(cos(90-Bw)*cos(90-Aw)+sin(90-Bw)*sin(90-Aw)*cos(Bj-Aj))/180*pi
Ln＝R*c
Vn＝Ln/T
wherein the symbols are interpreted as follows:
aj is longitude of point A, Aw is latitude of point A, Bj is longitude of point B, Bw is latitude of point B, R is average radius of earth, a, B and c represent angles between two end points of an arc of A, B, C and a connecting line of the center of earth, O is the center of sphere, L is spherical distance between two points AB, and A-OC-B are dihedral angles of a surface AOC and a surface BOC.
The navigation control equipment controls the power of the unmanned ship according to the judgment result of the task processing equipment; when the position information of the unmanned ship is judged to be accurate, the unmanned ship continues to sail, and when the position information of the unmanned ship is judged to be inaccurate, the unmanned ship stops sailing.

Claims (2)

1. An unmanned ship position accuracy judging and controlling system based on navigational speed is characterized by comprising navigation positioning equipment, task processing equipment and navigation control equipment;
the navigation positioning equipment acquires and provides unmanned ship position information for the task processing equipment;
the task processing equipment calculates the navigational speed in each fixed monitoring period according to the position information of the unmanned ship provided by the navigation positioning equipment, and the navigational speed is VnThe reasonability of the unmanned ship is judged according to the accuracy of the unmanned ship position information;
the navigation control equipment controls the power of the unmanned ship according to the judgment result of the task processing equipment; when the position information of the unmanned ship is judged to be accurate, the unmanned ship continues to sail, and when the position information of the unmanned ship is judged to be inaccurate, the unmanned ship stops sailing.
2. The system of claim 1, wherein the cruise velocity V is determined and controlled during a fixed monitoring periodnThe rationality judgment method of (1) is as follows:
at Vn≤(Vs-Vt) Or Vn≥(Vs+Vt) In case of this, the speed V is recognizednUnreasonable, wherein Vn＝Ln/T＝Vn，LnThe distance traveled by the unmanned ship is monitored for one monitoring period, T is the time of one monitoring period, VsIs the set speed of the boat, VtIs a speed error threshold.
CN202010654700.8A 2020-07-09 2020-07-09 Unmanned ship position accuracy judging and controlling system based on navigational speed Pending CN111780767A (en)

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Application Number Priority Date Filing Date Title
CN202010654700.8A CN111780767A (en) 2020-07-09 2020-07-09 Unmanned ship position accuracy judging and controlling system based on navigational speed

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Application Number Priority Date Filing Date Title
CN202010654700.8A CN111780767A (en) 2020-07-09 2020-07-09 Unmanned ship position accuracy judging and controlling system based on navigational speed

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103116165A (en) * 2013-01-23 2013-05-22 深圳市华宝电子科技有限公司 Method of restraining satellite positioning drift and navigation unit
CN108549372A (en) * 2018-04-03 2018-09-18 中国科学院大气物理研究所 unmanned boat control method and control device
CN110658542A (en) * 2019-10-10 2020-01-07 安徽江淮汽车集团股份有限公司 Method, device, equipment and storage medium for positioning and identifying automatic driving automobile

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103116165A (en) * 2013-01-23 2013-05-22 深圳市华宝电子科技有限公司 Method of restraining satellite positioning drift and navigation unit
CN108549372A (en) * 2018-04-03 2018-09-18 中国科学院大气物理研究所 unmanned boat control method and control device
CN110658542A (en) * 2019-10-10 2020-01-07 安徽江淮汽车集团股份有限公司 Method, device, equipment and storage medium for positioning and identifying automatic driving automobile

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