CN112068565A - Unmanned ship autonomous navigation method and system in structured environment - Google Patents
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Abstract
The invention provides an unmanned ship autonomous navigation method and system in a structured environment, the unmanned ship navigation system does not need to comprise position sensor modules such as a GPS (global positioning system), an inertial navigation system and the like, the method and system can realize unmanned ship track control under the condition that a position sensor is not carried or the position sensor fails, information of an unmanned ship in a structured area, including course deviation and position deviation information, is obtained through a scanning distance sensor such as a marine radar or a laser scanner and the like, a decision control module calculates a control command, and cruise control in the structured area is efficiently completed.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to an unmanned ship autonomous navigation method and system in a structured environment.
Background
Along with the development of science and technology, the unmanned ship plays an increasingly important role in the current ocean strategic pattern, integrates the technologies of control, communication, detection, investigation and the like, can be applied to the military and civil fields, executes tasks such as anti-terrorism investigation, target hitting, maritime search and rescue, water level monitoring and the like, has the characteristics of no humanization, intellectualization, small volume, quick response, high sensitivity and the like, and can effectively avoid personnel injury and greatly reduce the labor cost. The unmanned ship is an unmanned water surface platform which can realize water surface navigation through a remote control mode or an autonomous mode, can autonomously realize environment sensing and target detection, can bear large-range, long-time and low-cost marine operation tasks, realizes unmanned and intelligent operation, does not need or weakens the participation of people, liberates people from heavy and high-strength water tasks, and realizes diversified operation due to more efficient and standard water surface operation.
The unmanned ship motion control is divided into automatic control and remote control, and the automatic control is the basis for realizing unmanned operation. In the unmanned ship system, the navigation system can be divided into autonomous navigation and non-autonomous navigation (carrying a position measurement system such as a GPS), because the unmanned ship is widely applied to water areas where communication is not achieved to execute operation tasks, the situations that Beidou/GPS signals are weak or a position sensor is interfered to fail easily occur, the realization of the motion control function based on autonomous navigation is the key for completing overwater operation for the unmanned ship system, and the autonomous navigation control of the unmanned ship can play an important role in structural water areas such as a diversion canal, a river channel, an offshore wind power plant, an overwater photovoltaic power station and the like.
Disclosure of Invention
The invention provides an unmanned ship autonomous navigation method and system in a structured environment, and aims to avoid the condition that ship movement is out of control due to weak Beidou/GPS signals or failure of a position sensor caused by interference when an unmanned ship executes an operation task in a water area where communication is not achieved.
The invention is realized by the following steps: the invention provides an unmanned ship autonomous navigation method in a structured environment, which comprises the following steps:
s100, planning a flight path of autonomous driving of the unmanned ship in the structured area;
s200, acquiring the current relative position of the unmanned ship by adopting a scanning distance sensor, and calculating the position deviation and the course deviation of the unmanned ship;
s300, calculating and generating a reduction control command for the unmanned ship with the deviation through a decision control processor, wherein the reduction control command at least comprises a reduced rotating speed and a rudder angle;
and S400, outputting the rotating speed and rudder angle signals to the unmanned ship power device with deviation, and driving the unmanned ship to navigate in the channel.
In step S100, the step of planning the leg path on which the unmanned ship autonomously travels in the structured area includes: determining the range of a structured area navigated by the unmanned ship, setting the starting point and the end point of each flight path, and connecting all the flight path segments to generate a continuous expected path.
Wherein, in step S200, the step of calculating the position deviation and the heading deviation of the unmanned ship includes:
1) calculating course deviation
ψrFor desired route pipi+1The desired heading above, calculated as equation (1):
in the formula, xi、yiStarting point p for desired routeiCoordinate values; x is the number ofi+1、yi+1As the end point p of the desired routei+1Coordinate values; the values are all values on a sensor coordinate system;
heading deviation psieCalculating psi as the current heading of the unmanned ship as shown in the formula (2);
ψe＝ψr-ψ (2)
2) calculating a position deviation
The position deviation calculation is as follows (3):
de＝(dL-dR)/2 (3)
in the formula (d)eIs a positional deviation; dLThe shortest distance between the unmanned ship and the left boundary of the channel is defined; dRSailing unmanned shipRight side border shortest distance.
In step S300, the decision control processor calculates and generates a recovery control command for the unmanned ship with the deviation, including the steps of:
calculating a steering value required by the track control according to the course deviation and the position deviation, wherein the steering value is specifically represented by the following formula:
Frudder＝ktheta*ψe+kdist*de (4)
in the formula, FrudderIs a rudder control command; k is a radical ofthetaA course deviation control parameter; k is a radical ofdistIs a position deviation control parameter.
And in the step of outputting the rotating speed and rudder angle signals to the unmanned ship power device with deviation, distributing and calculating the rotating speed and rudder angle signals to the unmanned ship power device according to the configuration mode of the unmanned ship propeller.
The invention is realized by the following steps: the invention provides an unmanned ship autonomous navigation system in a structured environment, which comprises:
the path planning module is used for planning a flight path of autonomous driving of the unmanned ship in the structured area;
the scanning type distance sensing module is used for acquiring the current position of the unmanned ship and calculating the position deviation and the course deviation of the unmanned ship;
the decision control module is used for calculating and generating a reduction control command for the unmanned ship with the deviation, wherein the reduction control command at least comprises a reduced rotating speed and a rudder angle;
and the autonomous navigation module is used for outputting rotating speed and rudder angle signals to the unmanned ship power device with deviation and driving the unmanned ship to navigate in the channel.
The path planning module determines the structured area range of unmanned ship navigation, sets the starting point and the end point of each flight path, and continuously generates continuous expected paths by all the flight path segments.
Wherein the decision control module calculates the position deviation and the course deviation of the unmanned ship,
1) calculating course deviation
ψrFor desired route pipi+1The desired heading above, calculated as equation (1):
in the formula, xi、yiStarting point p for desired routeiCoordinate values; x is the number ofi+1、yi+1As the end point p of the desired routei+1Coordinate values; the values are all values on a sensor coordinate system;
heading deviation psieCalculating psi as the current heading of the unmanned ship as shown in the formula (2);
ψe＝ψr-ψ (2)
2) calculating a position deviation
The position deviation calculation is as follows (3):
de＝(dL-dR)/2 (3)
in the formula (d)eIs a positional deviation; dLThe shortest distance between the unmanned ship and the left boundary of the channel is defined; dRThe shortest distance between the unmanned ship and the right side boundary of the navigation channel.
The decision control module calculates a steering value required by the track control according to the course deviation and the position deviation, and the following formula is specifically adopted:
Frudder＝ktheta*ψe+kdist*de (4)
in the formula, FrudderIs a rudder control command; k is a radical ofthetaA course deviation control parameter; k is a radical ofdistIs a position deviation control parameter.
The autonomous navigation module distributes and calculates a rotating speed and a rudder angle signal to the unmanned ship power device according to the configuration mode of the unmanned ship propeller.
Compared with the prior art, the invention has the beneficial effects that: the invention discloses an unmanned ship autonomous navigation method and system in a structured environment, the unmanned ship navigation system does not need to comprise a position sensor module (such as GPS and inertial navigation), the proposed method and system can realize unmanned ship track control under the condition that a position sensor is not carried or the position sensor fails, scanning distance sensors such as a marine radar or a laser scanner and the like are used for obtaining the information of the unmanned ship in a structured area, wherein the information comprises course deviation and position deviation information, a decision control module calculates a control command, and cruise control in the structured area is efficiently completed.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of an unmanned ship autonomous navigation method in a structured environment according to the present invention.
Fig. 2 is a schematic diagram of a planned path in a structured area in an unmanned ship autonomous navigation method in a structured environment according to the present invention.
FIG. 3 is a schematic diagram of course deviation calculation in the unmanned ship autonomous navigation method in a structured environment according to the present invention.
FIG. 4 is a schematic diagram of calculating a position deviation in an unmanned ship autonomous navigation method in a structured environment according to the present invention.
Fig. 5 is a schematic structural diagram of an unmanned ship autonomous navigation system in a structured environment provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an unmanned ship autonomous navigation method in a structured environment according to the present invention. The method comprises the following steps:
s100, planning a flight path of autonomous driving of the unmanned ship in the structured area;
s200, acquiring the current relative position of the unmanned ship by adopting a scanning distance sensor, and calculating the position deviation and the course deviation of the unmanned ship;
s300, calculating and generating a reduction control command for the unmanned ship with the deviation through a decision control processor, wherein the reduction control command at least comprises a reduced rotating speed and a rudder angle;
and S400, outputting the rotating speed and rudder angle signals to the unmanned ship power device with deviation, and driving the unmanned ship to navigate in the channel.
In step S100, the step of planning the leg path on which the unmanned ship autonomously travels in the structured area includes: determining the range of a structured area navigated by the unmanned ship, setting the starting point and the end point of each flight path, and connecting all the flight path segments to generate a continuous expected path.
The unmanned ship path planned in the structured environment is shown in fig. 2, and the unmanned ship needs to complete the track control from the starting point to the end point.
In step S200, the step of calculating the position deviation and the heading deviation of the unmanned ship includes:
1) calculating course deviation
ψrFor desired route pipi+1The desired heading above, calculated as equation (1):
in the formula, xi、yiStarting point p for desired routeiCoordinate values; x is the number ofi+1、yi+1As the end point p of the desired routei+1Coordinate values; the values are all values on a sensor coordinate system;
heading deviation psieAnd calculating the psi as the current heading of the unmanned ship as shown in the formula (2).
ψe＝ψr-ψ (2)
2) Calculating a position deviation
The position deviation calculation is as follows (3):
de＝(dL-dR)/2 (3)
in the formula (d)eIs a positional deviation; dLThe shortest distance between the unmanned ship and the left boundary of the channel is defined; dRThe shortest distance between the unmanned ship and the right side boundary of the navigation channel.
The scanning distance equipment acquires channel information around the unmanned ship, calculates the real-time relative position of the unmanned ship and the boundary of an adjacent channel, as shown in figure 3, which is a schematic diagram of the relative position of the unmanned ship and a section of expected track, calculates the relative course deviation according to the formula (2), as shown in figure 4, which is a schematic diagram of the position of the unmanned ship in the channel of the structured water area, and calculates the relative position deviation based on the formula (3) according to the relative distance information calculated by the sensor.
In step S300, the decision control processor calculates and generates a recovery control command for the unmanned ship with the deviation, including the steps of:
calculating a steering value required by the track control according to the course deviation and the position deviation, wherein the steering value is specifically represented by the following formula:
Frudder＝ktheta*ψe+kdist*de (4)
in the formula, FrudderIs a rudder control command; k is a radical ofthetaA course deviation control parameter; k is a radical ofdistIs a position deviation control parameter.
According to the input deviation information, the decision control module, namely the controller calculates a control command according to the formula (4) and inputs the control command to the power module.
For example when the heading is deviated psie> 0, positional deviation deWhen < 0, control output Frudder>0, turning a right rudder to enable the unmanned ship to turn right and move to an expected track;
when heading deviation psie> 0, positional deviation deWhen the output is greater than 0, the output F is controlledrudder<And 0, turning a left rudder to enable the unmanned ship to turn left and move to an expected track.
And in the step of outputting the rotating speed and rudder angle signals to the unmanned ship power device with deviation, distributing and calculating the rotating speed and rudder angle signals to the unmanned ship power device according to the configuration mode of the unmanned ship propeller.
Further, as shown in fig. 5, the present invention provides an unmanned ship autonomous navigation system in a structured environment, comprising:
the path planning module is used for planning a flight path of autonomous driving of the unmanned ship in the structured area;
the scanning type distance sensing module is used for acquiring the current relative position of the unmanned ship and calculating the position deviation and the course deviation of the unmanned ship;
the decision control module is used for calculating and generating a reduction control command for the unmanned ship with the deviation, wherein the reduction control command at least comprises a reduced rotating speed and a rudder angle;
and the autonomous navigation module is used for outputting rotating speed and rudder angle signals to the unmanned ship power device with deviation and driving the unmanned ship to navigate in the channel.
The path planning module determines the structured area range of unmanned ship navigation, sets the starting point and the end point of each flight path, and continuously generates continuous expected paths by all the flight path segments.
Wherein the decision control module calculates the position deviation and the course deviation of the unmanned ship,
1) calculating course deviation
ψrFor desired route pipi+1The desired heading above, calculated as equation (1):
in the formula, xi、yiStarting point p for desired routeiCoordinate values; x is the number ofi+1、yi+1As the end point p of the desired routei+1Coordinate values; the values are all values on a sensor coordinate system;
heading deviation psieAnd calculating the psi as the current heading of the unmanned ship as shown in the formula (2).
ψe＝ψr-ψ (2)
2) Calculating a position deviation
The position deviation calculation is as follows (3):
de＝(dL-dR)/2 (3)
in the formula (d)eIs a positional deviation; dLThe shortest distance between the unmanned ship and the left boundary of the channel is defined; dRThe shortest distance between the unmanned ship and the right side boundary of the navigation channel.
The decision control module calculates a steering value required by the track control according to the course deviation and the position deviation, and the following formula is specifically adopted:
Frudder＝ktheta*ψe+kdist*de (4)
in the formula, FrudderIs a rudder control command; k is a radical ofthetaA course deviation control parameter; k is a radical ofdistIs a position deviation control parameter.
The autonomous navigation module distributes and calculates a rotating speed and a rudder angle signal to the unmanned ship power device according to the configuration mode of the unmanned ship propeller.
Compared with the prior art, the invention has the beneficial effects that: the invention discloses an unmanned ship autonomous navigation method and system in a structured environment, the unmanned ship navigation system does not need to comprise a position sensor module (such as GPS and inertial navigation), the proposed method and system can realize unmanned ship track control under the condition that a position sensor is not carried or the position sensor fails, scanning distance sensors such as a marine radar or a laser scanner and the like are used for obtaining the information of the unmanned ship in a structured area, wherein the information comprises course deviation and position deviation information, a decision control module calculates a control command, and cruise control in the structured area is efficiently completed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for unmanned ship autonomous navigation in a structured environment, comprising:
s100, planning a flight path of autonomous driving of the unmanned ship in the structured area;
s200, acquiring the current relative position of the unmanned ship by adopting a scanning distance sensor, and calculating the position deviation and the course deviation of the unmanned ship;
s300, calculating and generating a reduction control command for the unmanned ship with the deviation through a decision control processor, wherein the reduction control command at least comprises a reduced rotating speed and a rudder angle;
and S400, outputting the rotating speed and rudder angle signals to the unmanned ship power device with deviation, and driving the unmanned ship to navigate in the channel.
2. The unmanned ship autonomous navigation method in structured environment of claim 1, wherein in step S100, the step of planning the segment path for autonomous driving of the unmanned ship in the structured area comprises: determining the range of a structured area navigated by the unmanned ship, setting the starting point and the end point of each flight path, and connecting all the flight path segments to generate a continuous expected path.
3. The unmanned ship autonomous navigation method in structured environment of claim 1, wherein the step of calculating the position deviation and the heading deviation of the unmanned ship in step S200 comprises:
1) calculating course deviation
ψrFor desired route pipi+1The desired heading above, calculated as equation (1):
in the formula, xi、yiStarting point p for desired routeiCoordinate values; x is the number ofi+1、yi+1As the end point p of the desired routei+1Coordinate values; the values are all values on a sensor coordinate system;
heading deviation psieCalculating psi as the current heading of the unmanned ship as shown in the formula (2);
ψe＝ψr-ψ (2)
2) calculating a position deviation
The position deviation calculation is as follows (3):
de＝(dL-dR)/2 (3)
in the formula (d)eIs a positional deviation; dLThe shortest distance between the unmanned ship and the left boundary of the channel is defined; dRThe shortest distance between the unmanned ship and the right side boundary of the navigation channel.
4. The unmanned ship autonomous navigation method in structured environment of claim 1, wherein in step S300, the decision control processor generates recovery control command for unmanned ship calculation with deviation, comprising steps of:
calculating a steering value required by the track control according to the course deviation and the position deviation, wherein the steering value is specifically represented by the following formula:
Frudder＝ktheta*ψe+kdist*de (4)
in the formula, FrudderIs a rudder control command; k is a radical ofthetaA course deviation control parameter; k is a radical ofdistIs a position deviation control parameter.
5. The unmanned marine vessel autonomous navigation method in a structured environment according to claim 1, wherein in the step of outputting the rotation speed and rudder angle signals to the unmanned marine vessel power plant where the deviation occurs, the thrust force distribution calculates the rotation speed and rudder angle signals to the unmanned marine vessel power plant according to a configuration of the unmanned marine vessel propeller.
6. An unmanned ship autonomous navigation system in a structured environment, comprising
The path planning module is used for planning a flight path of autonomous driving of the unmanned ship in the structured area;
the scanning type distance sensing module is used for acquiring the current relative position of the unmanned ship and calculating the position deviation and the course deviation of the unmanned ship;
the decision control module is used for calculating and generating a reduction control command for the unmanned ship with the deviation, wherein the reduction control command at least comprises a reduced rotating speed and a rudder angle;
and the autonomous navigation module is used for outputting rotating speed and rudder angle signals to the unmanned ship power device with deviation and driving the unmanned ship to navigate in the channel.
7. The unmanned-vessel autonomous navigation system in a structured environment of claim 6, wherein the path planning module determines a structured area range for navigation of the unmanned vessel, sets a start point and an end point of each track, and concatenates the track segments to generate a continuous desired path.
8. The unmanned-vessel autonomous navigation system in a structured environment, as recited in claim 6, wherein said decision-making control module calculates a position deviation and a heading deviation of the unmanned vessel,
1) calculating course deviation
ψrFor desired route pipi+1The desired heading above, calculated as equation (1):
in the formula, xi、yiStarting point p for desired routeiCoordinate values; x is the number ofi+1、yi+1As the end point p of the desired routei+1Coordinate values; the values are all values on a sensor coordinate system;
heading deviation psieCalculating psi as the current heading of the unmanned ship as shown in the formula (2);
ψe＝ψr-ψ (2)
2) calculating a position deviation
The position deviation calculation is as follows (3):
de＝(dL-dR)/2 (3)
in the formula (d)eIs a positional deviation; dLThe shortest distance between the unmanned ship and the left boundary of the channel is defined; dRThe shortest distance between the unmanned ship and the right side boundary of the navigation channel.
9. The unmanned ship autonomous navigation system in structured environment as claimed in claim 6, wherein the decision control module calculates a steering value required for track control according to the course deviation and the position deviation, and is specifically as follows:
Frudder＝ktheta*ψe+kdist*de (4)
in the formula, FrudderIs a rudder control command; k is a radical ofthetaA course deviation control parameter; k is a radical ofdistIs a position deviation control parameter.
10. The unmanned marine vessel autonomous navigation system in a structured environment of claim 6, wherein the autonomous navigation module calculates a rotation speed and rudder angle signal to the unmanned marine vessel power plant according to a configuration mode of the unmanned marine vessel propeller.
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| CN114035587B (en) * | 2021-11-24 | 2024-03-29 | 陕西欧卡电子智能科技有限公司 | Unmanned ship cluster multi-ship collaborative path planning method and device and unmanned ship |
| CN116520834A (en) * | 2023-04-24 | 2023-08-01 | 安徽建筑大学 | Low-energy-consumption unmanned ship cruising method |
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Application publication date: 20201211 |