CN114879651A - Power positioning method for under-actuated unmanned surface vessel - Google Patents
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Abstract
The invention discloses a dynamic positioning method of an under-actuated unmanned surface vehicle.A strategy method is characterized in that the actual position and the motion attitude of the current unmanned surface vehicle are obtained in real time through a GPS/IMU combined navigation system carried on the unmanned surface vehicle; according to a ground base station remote control instruction, acquiring the position and the posture of an expected target kept by the pose of the current unmanned ship, and simultaneously setting a pose keeping error radius, wherein the set pose keeping error radius is larger than an actual pose error; and calculating an expected heading, a heading deviation angle and an actual position error according to the expected position and the attitude kept by the pose of the unmanned surface vehicle and the actual position and the motion attitude of the unmanned surface vehicle. The unmanned ship has the advantages of less required hardware systems such as sensor carried by unmanned ship, lower realization cost, low requirement on data calculation processing performance of an electronic calculation unit system, and easy realization and large-scale application.
Description
Technical Field
The invention relates to the technical field of guidance and control of unmanned surface vehicles, in particular to a dynamic positioning method of an under-actuated unmanned surface vehicle.
Background
In the modern marine field, DP dynamic positioning systems have been developed for large vessels in general to maintain the position and attitude of the vessel in order to maintain a specific position and attitude of the vessel in a fixed water area. With the rapid development of subject technologies such as automation, computer science, robotics and the like, the unmanned surface vehicle is continuously applied to a plurality of fields such as water environment monitoring protection, early warning rescue and the like. When the unmanned surface vehicle is performing a water environment monitoring task, particularly when an environmental protection department utilizes the unmanned surface vehicle to perform deep water sampling monitoring on domestic and production water, the unmanned surface vehicle carries sampling equipment to stay at a certain position on the water surface according to the task requirement, and simultaneously performs water sample collection of a determined position. However, unlike the existing DP dynamic positioning system of a common ship, the unmanned surface vehicle is generally not equipped with a lateral thruster, cannot provide lateral thrust, and belongs to an under-actuated system. Aiming at the requirement of the position and posture maintenance of the unmanned surface vehicle in water environment monitoring and water quality sampling tasks, an area position and posture maintenance strategy for the unmanned surface vehicle which has the characteristics of under-actuated property and incapability of fixing the vehicle body by traditional means such as anchoring and the like is urgently needed. Based on the requirements, the invention provides an under-actuated surface unmanned ship region pose maintaining strategy, in practical application, the strategy needs fewer hardware systems such as unmanned ship carrying sensors, and the like, only needs a GPS/IMU combined navigation system to measure the position and the pose information of the unmanned ship in real time, and has the advantages of low implementation cost, low requirement on the data calculation processing performance of an electronic calculation unit system, small calculation amount, easy implementation and large-scale application.
Disclosure of Invention
The invention aims to provide an under-actuated water surface unmanned ship dynamic positioning method, the strategy method has low requirements on the data calculation and processing performance of an electronic calculation unit system, the calculation amount is small, hardware systems such as unmanned ship carrying sensors are less, and only a GPS/IMU combined navigation system is needed to measure the position and the posture information of the unmanned ship in real time, so that the regional posture maintenance of the water surface unmanned ship is realized.
In order to achieve the purpose, the invention adopts the following technical scheme: a power positioning method for an under-actuated unmanned surface vessel comprises the following steps:
acquiring the actual position and the motion attitude of the current unmanned ship in real time according to a GPS/IMU integrated navigation system carried on the unmanned ship on the water surface;
according to the instruction of the ground base station remote control end, acquiring the position and the posture of an expected target kept by the pose of the current unmanned ship, and simultaneously setting the error radius of the pose keeping;
respectively obtaining a position error and a course angle deviation of the unmanned ship according to an expected position and a target attitude kept by the pose of the unmanned ship on the water surface and an actual position and a motion attitude of the current unmanned ship;
when the actual position error is not smaller than the set pose maintaining error radius, executing a guidance strategy: according to the course angle deviation of the unmanned ship and the area range where the unmanned ship is located at present, correcting the course angle deviation according to a corresponding guidance strategy, and enabling the corrected course angle deviation to meet the preset condition range;
correcting the position error according to the position error of the unmanned ship and the area range of the current unmanned ship, and constraining the course angle range during the correction according to the corresponding guidance strategy, so that the corrected position error meets the preset condition range;
and selecting the course angle deviation and the position error as control variables of the unmanned surface vehicle control system, and correcting the course angle and the navigation speed of the unmanned surface vehicle in real time, so that the unmanned surface vehicle can maintain the position and the posture within the set range of the position error and under the course deviation.
The fixed coordinate system used in the guidance strategy takes the expected position as the origin of coordinates and the expected course as the positive direction of the X axis of the coordinate system; the divided regions are as follows:
pose retention error radius: r e ＞0
A＝{(x,y)||x|＞|y·tan(90-ψ e )|}
B＝{(x,y)||x|＞|y·tan(90-ψ e )|，|x|＜|y·tan(90-ψ e )|+d e }
C＝{(x,y)||x≤|y·tan(90-ψ e )|}
Wherein A, B, C denotes the region, ψ e The heading angle deviation allowed in the process of maintaining the pose of the unmanned surface vehicle, (x, y) is the current position coordinate of the unmanned surface vehicle, and d e Is in X 'from region B in the fixed coordinate system' b Projected length in the axial direction.
The guidance strategy is as follows:
when the unmanned ship is located in a set range around the origin of the coordinate system and the position deviation is smaller than the set pose keeping error radius, the unmanned ship is considered to reach a desired point;
guidance strategy 1: when the unmanned ship is located in the area A or the area B and mark is 0, obtaining an expected course angle through the guidance of a line-of-sight method according to the current position of the unmanned ship and returning to a balance position M, wherein mark is a mark value used for passing through the area;
guidance strategy 2: when the unmanned ship is located in the area C and mark is 0, M (x ') in the area A is calculated according to the current position of the unmanned ship' d ,y′ d ,ψ′ d ) The point position is subjected to line-of-sight guidance by taking the M point as a desired target point, and the course angle is ensured to be smaller than psi e Thereafter, guidance strategy 1 is executed to return to the desired target point;
when the unmanned ship is located in the area B, and mark ═ 1, the unmanned ship is held at the desired position M (x ″) in the attitude' d ,y′ d ,ψ′ d ) Guidance for target points and according to the desired course ψ d Driving to the M point;
after the unmanned ship reaches the point M, executing a guidance strategy 1, and returning to an expected target point, wherein the value of mark is changed to be M ═ 0 → M ═ 1 → M ═ 0, so as to prevent the unmanned ship from executing the guidance strategy 1 after entering the area B from the area C;
wherein M (x' d ,y′ d ,ψ′ d ) Is driven from region C to the desired target point for region A, (x' d ,y′ d ) Is M Point desired position, ψ' d Is the heading angle at point M.
The line-of-sight guidance is to solve the expected heading angle psi by a line-of-sight method d The method comprises the following steps:
ψ d ＝arctan(y Los -y)/(x Los -x)
wherein (x) Los ,y Los ) The expected target position point maintained for the unmanned ship pose, (x, y) is the actual position point where the unmanned ship is currently located.
The calculation formula of the M point coordinate and the expected course is as follows:
wherein delta is the course angle deviation x 'of the unmanned ship' d 、y′ d The expected position coordinates of the M point are shown, (x, y) is the actual position point where the unmanned ship is currently located, psi e The allowable course angle error in the pose maintaining process of the unmanned surface vehicle, d min The shortest distance for the current position to reach the area a.
mark is a mark value that is traversed as a region, expressed as: c → B1, B → A0.
The set pose keeping error radius is larger than the actual pose deviation.
The invention has the following beneficial effects and advantages:
1. hardware systems such as sensors and the like carried by the unmanned ship are fewer, and the position information and the attitude information of the unmanned ship are measured in real time only by a GPS/IMU combined navigation system;
2. the strategy has low requirements on the data calculation processing performance of an electronic calculation unit system on the unmanned ship, and the calculation amount is small;
3. compared with the traditional method, the strategy can restrain the heading of the unmanned ship while restraining the position state.
Drawings
Fig. 1 is a schematic flow chart of a dynamic positioning method of an under-actuated unmanned surface vessel according to an embodiment of the invention.
Fig. 2 is a diagram showing a division of the area A, B, C in the fixed coordinate system.
Fig. 3 is a schematic view of the navigation when the surface drone is in region a.
Fig. 4 is a schematic view of the navigation when the surface drone is in region C.
Detailed Description
Embodiments of the present invention are described below with reference to specific examples, and other advantages and functions of the present invention will be readily apparent to those skilled in the art from the description set forth herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to fig. 1-4. It should be noted that the drawings provided in this embodiment are only for illustrating the basic idea of the present invention in a schematic way, and only the strategy method related to the present invention is shown in the drawings, and the details of the actual implementation process may be slightly changed.
The invention discloses a power positioning method of an under-actuated unmanned surface vehicle, which comprises the following steps of acquiring the actual position and the motion attitude of the current unmanned surface vehicle in real time through a GPS/IMU integrated navigation system carried on the unmanned surface vehicle; according to a ground base station remote control instruction, acquiring the position and the posture of an expected target kept by the pose of the current unmanned ship, and simultaneously setting a pose keeping error radius, wherein the set pose keeping error radius is larger than an actual pose error; and calculating an expected heading, a heading deviation angle and an actual position error according to the expected position and the attitude kept by the pose of the unmanned surface vehicle and the actual position and the motion attitude of the unmanned surface vehicle.
And when the deviation distance in the strategy is not less than the set pose maintaining error radius, setting an angle threshold value, and correcting the course deviation angle to ensure that the corrected course deviation angle meets the set condition. By applying the embodiment of the invention, hardware systems such as unmanned shipborne sensors and the like are less, the realization cost is lower, the requirement on the data calculation processing performance of an electronic calculation unit system is not high, and the realization and the large-scale application are easy.
Acquiring the actual position and the motion attitude of the current unmanned ship in real time according to a GPS/IMU integrated navigation system carried on the unmanned ship on the water surface;
according to the instruction of the ground base station remote control end, acquiring the position and the posture of an expected target kept by the pose of the current unmanned ship, and simultaneously setting a pose keeping error radius, wherein the set pose keeping error radius is larger than the actual pose deviation;
establishing a ship body fixed coordinate system O by ship body coordinates of an expected pose b X′ b Y′ b Referring to FIGS. 2 to 4, a coordinate system O is fixed b X′ b Y′ b The coordinate transformation relation with the unmanned ship in the inertial coordinate system is shown as follows, wherein (x) E ,y E ,ψ E ) The pose of the unmanned ship under an inertial coordinate system is provided.
The fixed coordinate system is divided into three regions: reachable area a, area B, and unreachable area C. In the reachable area, the unmanned boat can return to the expected position by means of forward movement and turning movement, and heading angle errors are prevented from exceeding an expected range due to the fact that the unmanned boat slides uncontrollably. While setting the error radius R e Indicating that the drones are within this area, i.e. considered to be in their position as expected, wherein the division of the area B is to prevent frequent zone jumps between the reachable area a and the unreachable area C due to disturbing influences. The zone division is shown in figure 2.
The reachable region a is defined as:
A＝{(x,y)||x|≥|ytan(90-ψ e )|}
the reachable region B is defined as:
B＝{(x,y)||ytan(90-ψ e )|+d e ＞|x|＞|ytan(90-ψ e )|}
the unreachable area C is defined as:
C＝{(x,y)||x|≤|ytan(90-ψ e )|}
let mark be the switch mark value in three regions of the area, where (x, y, ψ) represents the current position and heading angle of the unmanned boat, ψ e Representing allowed headingsThe maximum value of the error.
Initialized to 0, defined as:
C→B:mark＝1,B→A:mark＝0
different guidance strategies are set at regions A, B and C, respectively: when the unmanned ship is located in different areas, the strategy of returning to the desired point is different, and the part is to locate the unmanned ship in a fixed coordinate system O b X′ b Y′ b The first quadrant below is illustrated as an example.
As shown in fig. 3, a fixed coordinate system O b X′ b Y′ b (x) is d ,y d ,ψ d ) Representing the position and heading of the desired target point, with a position error threshold of R e . When mark is 0 and is located in the area a or the area B, the unmanned boat will directly perform guidance in the final expected guidance at this time, and the heading angle is within the expected error range in the whole process, so that the direct guidance can return to the expected guidance, which is strategy 1.
As shown in fig. 4, a fixed coordinate system O b X′ b Y′ b (x) is d ,y d ,ψ d ) Representing the position and heading of the desired target point, with a position error threshold of R e . When the unmanned ship is in the area C, an intermediate expected pose point M (x' d ,y′ d ,ψ′ d ) Wherein (x' d ,y′ d ) Is M Point desired position, ψ' d Indicating the heading angle at point M. The unmanned ship firstly passes through the region B and then reaches the region A, and simultaneously mark is 0 → 1 → 0, and then the execution strategy 1 is switched, namely the strategy 2.
Setting the current pose to (x, y, psi), and finally expecting the pose (x) d ,y d ,ψ d ) After the unmanned ship is disturbed and deviates from a balance point, when the unmanned ship is located in the unreachable area C, the strategy 2 needs to be executed to calculate the shortest distance to the reachable area A and the expected pose, and the current shortest distance to the reachable area A is calculated:
as shown in FIG. 2, d e For region B at X under a fixed coordinate system b The projection length in the axial direction is used for preventing the unmanned ship from being limited by the self turning radius or being disturbed by the environment, frequent region jumping possibly occurs in the region switching process, and the output jitter of the unmanned ship actuating mechanism is caused.
Solving for expected position M (x ') of unmanned ship within reachable area' d ,y′ d ,ψ′ d ) Coordinates (taking the first quadrant as an example):
in the formula: and delta is the course angle deviation of the unmanned ship and is determined by the course angle control error.
In a guidance mode, a line-of-sight guidance strategy is adopted:
in the formula: (x) Los ,y Los ) Are the coordinates of the desired location.
As shown in fig. 1, the invention provides an under-actuated surface unmanned surface vehicle region pose maintaining strategy, which includes:
and acquiring the actual position and the motion attitude of the current unmanned ship in real time according to a GPS/IMU integrated navigation system carried on the unmanned ship on the water surface.
It can be understood that the actual position (x, y) and the actual heading ψ where the unmanned ship is currently located can be determined according to the GPS/IMU combined navigation system mounted on the unmanned ship.
According to the instruction of the ground base station remote control end, the position and the posture of an expected target kept by the pose of the current unmanned ship are obtained, and meanwhile, the pose keeping error radius is set, wherein the set pose keeping error radius is larger than the actual pose deviation.
It should be noted that the reference is made to the control end (remote control platform such as ground station)Expected position (x) for keeping pose of unmanned surface vehicle capable of being set d ,y d ) Set pose holding error radius R e 。
It should be noted that unmanned boats may need to implement different strategies in different areas.
It should be noted that the area division is based on a new coordinate system, and the error calculation needs to be performed on an already-converted coordinate system, so that the position data and the heading angle data read by the integrated navigation system need to be converted.
The formula for the coordinate system transformation is:
and determining the area where the unmanned ship is located according to the position (x, y) of the current unmanned ship, and selecting the unmanned ship to carry out guidance or course angle error correction according to a preset strategy.
When the unmanned ship is positioned in the balance point area, determining the current heading angle psi, and determining the allowable error psi according to the heading angle e And calculating the course angle error of the current unmanned ship, and adjusting the steering of the unmanned ship in situ.
When the unmanned ship is located in the area a or B and mark is 0, the unmanned ship maintains a desired position (x) in the pose d ,y d ) Guidance is carried out on target points, and the expected course psi of the unmanned ship is calculated d ：
ψ d ＝arctan((y d -y)/(x d -x))
The radius near the expected position to enter the pose maintenance is smaller than R e After the range of (3), a guidance strategy within this region is performed.
When the unmanned ship is located in the area C, and mark is 0, the unmanned ship is held at a desired position (x) in the pose d ,y d ) Guidance is carried out for a target point, and an expected course psi from the unmanned ship to a point M is calculated d Firstly, the course is corrected by in-situ rotation, and the desired course psi is determined d And driving to the point M.
When the unmanned ship is located in the area B, and mark ═ 1, desired position M (x) held in position by the unmanned boat d ,y d ) Guidance for target points and according to the desired course ψ d And driving to the point M.
After the unmanned boat reaches point M, the strategy in areas a and B is executed, returning to the desired power position origin. The value of mark at this time becomes m 0 → m 1 → m 0, which is a marker value, preventing the guidance strategy in areas a and B from being performed when the unmanned boat enters area B from area C.
Correcting the course angle, and gradually adjusting the course angle to be the expected course angle.
It is stated in advance that when the unmanned ship only performs attitude correction, the unmanned ship rotates in situ, and the course angle is corrected.
The method is characterized in that the actual course angle deviation and the position relative error are selected as the control variables of the unmanned ship control system, the course angle deviation and the deviation distance are input into the controller as the control variables, and the PD controller is used but the method is not limited to PD control, so that the control system corrects the course angle and the navigation speed of the unmanned surface ship in real time, and the unmanned surface ship can maintain the position and the attitude under the condition of smaller position error and course deviation. Stopping power supply when the course angle deviation and the position error of the unmanned ship are both smaller than a preset threshold value; and proper power supply is provided according to the real-time position and course angle deviation of the unmanned ship, so that the real-time regional pose maintenance is ensured.
The above-described embodiments are merely illustrative of the principles and functions of the present invention, and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (7)
1. A dynamic positioning method for an under-actuated unmanned surface vessel is characterized by comprising the following steps:
acquiring the actual position and the motion attitude of the current unmanned ship in real time according to a GPS/IMU integrated navigation system carried on the unmanned ship on the water surface;
according to the instruction of the ground base station remote control end, acquiring the position and the posture of an expected target kept by the pose of the current unmanned ship, and simultaneously setting the error radius of the pose keeping;
respectively obtaining a position error and a course angle deviation of the unmanned ship according to an expected position and a target attitude kept by the pose of the unmanned ship on the water surface and an actual position and a motion attitude of the current unmanned ship;
when the actual position error is not smaller than the set pose maintaining error radius, executing a guidance strategy: according to the course angle deviation of the unmanned ship and the area range where the unmanned ship is located at present, correcting the course angle deviation according to a corresponding guidance strategy, and enabling the corrected course angle deviation to meet the preset condition range;
correcting the position error according to the position error of the unmanned ship and the region range of the current unmanned ship and a corresponding guidance strategy, and constraining a course angle range in the period to enable the corrected position error to meet a preset condition range;
and selecting the course angle deviation and the position error as control variables of the unmanned surface vehicle control system, and correcting the course angle and the navigation speed of the unmanned surface vehicle in real time, so that the unmanned surface vehicle can maintain the position and the posture within the set range of the position error and under the course deviation.
2. The method for dynamically positioning the under-actuated unmanned surface vessel according to claim 1, wherein the fixed coordinate system used in the guidance strategy takes the expected position as the origin of coordinates, and the expected heading is the positive direction of the X axis of the coordinate system; the divided regions are as follows:
pose retention error radius: r e ＞0
A＝{(x,y)||x|＞|y·tan(90-ψ e )|}
B＝{(x,y)||x|＞|y·tan(90-ψ e )|，|x|＜|y·tan(90-ψ e )|+d e }
C＝{(x,y)||x|≤|y·tan(90-ψ e )|}
Wherein A, B, C denotes the region, ψ e The heading angle deviation allowed in the process of maintaining the pose of the unmanned surface vehicle, (x, y) is the current position coordinate of the unmanned surface vehicle, and d e Is in X 'from region B in the fixed coordinate system' b Projected length in the axial direction.
3. The under-actuated unmanned surface vessel dynamic positioning method according to claims 1 and 2, characterized in that the guidance strategy is as follows:
when the unmanned ship is located in a set range around the origin of the coordinate system and the position deviation is smaller than a set pose maintaining error radius, the unmanned ship is considered to reach a desired point;
guidance strategy 1: when the unmanned ship is located in the area A or the area B and mark is 0, obtaining an expected course angle and returning to a balance position M through line-of-sight guidance according to the current position of the unmanned ship, wherein mark is a mark value used for passing through the area;
guidance strategy 2: when the unmanned ship is located in the area C and mark is 0, M (x ') in the area A is calculated according to the current position of the unmanned ship' d ,y′ d ,ψ′ d ) The point position is subjected to line-of-sight guidance by taking the M point as a desired target point, and the course angle is ensured to be smaller than psi e Thereafter, guidance strategy 1 is executed to return to the desired target point;
when the unmanned ship is located in the area B, and mark ═ 1, the unmanned ship is held at the desired position M (x ″) in the attitude' d ,y′ d ,ψ′ d ) Guidance for target points and according to the desired course ψ d Driving to the M point;
after the unmanned ship reaches the point M, executing a guidance strategy 1, and returning to an expected target point, wherein the value of mark is changed to be M ═ 0 → M ═ 1 → M ═ 0, so as to prevent the unmanned ship from executing the guidance strategy 1 after entering the area B from the area C;
wherein M (x' d ,y′ d ,ψ′ d ) Is driven from region C to the desired target point for region A, (x' d ,y′ d ) Is M Point desired position, ψ' d Is the heading angle at point M.
4. The method as claimed in claims 1 and 3, wherein the line-of-sight guidance is to solve the desired heading angle ψ by line-of-sight method d The method comprises the following steps:
ψ d ＝arctan(y Los -y)/(x Los -x)
wherein (x) Los ,y Los ) The expected target position point maintained for the unmanned ship pose, (x, y) is the actual position point where the unmanned ship is currently located.
5. The dynamic positioning method for the under-actuated unmanned surface vessel as claimed in claims 1 and 3, wherein the calculation formula of the M point coordinate and the expected heading is as follows:
wherein delta is the course angle deviation x 'of the unmanned ship' d 、y′ d The expected position coordinates of the M point are shown, (x, y) is the actual position point where the unmanned ship is currently located, psi e The allowable course angle error in the pose maintaining process of the unmanned surface vehicle, d min The shortest distance for the current position to reach the area a.
6. An under-actuated unmanned surface vessel dynamic positioning method as claimed in claims 1 and 3, wherein mark is a mark value as area crossing, expressed as: c → B, mark 1, B → A, mark 0.
7. The method of claim 1, wherein the set pose holding error radius is greater than an actual pose deviation.
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| CN110411445A (en) * | 2018-04-28 | 2019-11-05 | 中国科学院沈阳自动化研究所 | Covering path method based on soft wing unmanned plane |
| CN111240337A (en) * | 2020-02-10 | 2020-06-05 | 上海海事大学 | Power positioning method for under-actuated unmanned surface vessel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110411445A (en) * | 2018-04-28 | 2019-11-05 | 中国科学院沈阳自动化研究所 | Covering path method based on soft wing unmanned plane |
| CN111240337A (en) * | 2020-02-10 | 2020-06-05 | 上海海事大学 | Power positioning method for under-actuated unmanned surface vessel |
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| 李朋博;苑明哲;肖金超;熊俊峰;: "基于航向约束的无人艇位姿保持制导策略", 上海交通大学学报, no. 09, 30 September 2020 (2020-09-30) * |
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