CN115079113B - Method and system for measuring ground wave radar directional diagram based on unmanned ship - Google Patents
Method and system for measuring ground wave radar directional diagram based on unmanned ship Download PDFInfo
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Abstract
The invention relates to a method and a system for measuring a ground wave radar directional diagram based on an unmanned ship, and belongs to the technical field of ground wave radar measurement. The method comprises the following steps: formulating a plurality of normal circular arc motion trails for measuring a ground wave radar directional diagram; and controlling the unmanned ship carrying the directional diagram testing device to sail along each positive circular arc motion trail by adopting a fuzzy PID control method, measuring the field intensity of the transmitting signal of the tested antenna at different positions on each positive circular arc motion trail by the directional diagram testing device in the sailing process, and drawing the directional diagram of the tested antenna. According to the directional diagram measuring method, the directional diagram measuring device carried by the unmanned ship is controlled by adopting a fuzzy PID control method to measure the directional diagram, the technical defect that the circular arc path of the running fishing ship cannot guarantee the precision due to the error influence of manual control is overcome, the navigation precision in the directional diagram measuring process is improved, and the precision of the tested directional diagram is further improved.
Description
Technical Field
The invention relates to the technical field of ground wave radar measurement, in particular to a ground wave radar directional diagram measuring method and system based on an unmanned ship.
Background
In the marine environment guarantee, a ground wave radar is generally used for carrying out all-weather continuous monitoring on a specified sea area, finding sea surface ships and air moving targets in an action distance range in time, measuring the distance, the direction and the radial speed of the ships and the air moving targets, carrying out track processing on the targets and roughly giving attribute characteristics of the targets, so that the ground wave radar is an economic and effective sea area monitoring device for marine traffic control and 200-sea territory navigation resources protection.
The directional diagram of the antenna represents the distribution pattern of the power and the field intensity of electromagnetic waves radiated by the antenna in each direction of space, and the radiation characteristic of the antenna can be reflected. The antenna of the ground wave radar needs to test the directional diagram regularly and calibrate the directional diagram, so that the validity of radar data is guaranteed. However, antennas are generally bulky, heavy, difficult to carry and transport, and prone to damage. Some antenna patterns are greatly affected by the placement of the antenna field, but these effects cannot be ignored in practical use. Therefore, in order to ensure the consistency of the test environment, the test work of the directional diagram needs to be carried out on the antenna use field. When the field measurement method is adopted, the antenna to be measured is usually fixed, and the auxiliary antenna arranged on the directional pattern testing device circularly moves around the antenna to be measured with a fixed radius so as to measure the directional pattern of the plane.
The ground wave radar base station is generally erected in coastal areas, when directional diagrams of ground wave radar antennas are measured, a conventional method is to carry a directional diagram testing device by using a fishing boat, circular motion is carried out around the ground wave radar base station according to a fixed radius, and at least 3 radiuses are generally selected from near to far for measurement in each test. In actual operation, under the influence of meteorological conditions, sea conditions and errors of manual control, the circular arc path of the running fishing boat can not guarantee the accuracy of the circular arc path, and therefore the accuracy of a tested directional diagram can not be guaranteed.
Disclosure of Invention
In view of this, the invention provides a method and a system for measuring a ground wave radar directional diagram based on an unmanned ship, so as to improve the navigation precision in the directional diagram measuring process and further improve the precision of the tested directional diagram.
In order to achieve the purpose, the invention provides the following scheme:
a method for measuring a ground wave radar directional diagram based on an unmanned ship comprises the following steps:
formulating a plurality of right circular arc motion trails for measuring a ground wave radar directional diagram; the plurality of positive arc-shaped motion tracks are a plurality of circles with different radiuses and with the base station of the ground wave radar to be detected as the center of a circle, and the radius difference of any two positive arc-shaped motion tracks is larger than the minimum test distance;
controlling an unmanned ship carrying a directional diagram testing device to sail along each positive circular arc motion trail by adopting a fuzzy PID control method, and measuring the field intensity of a transmitting signal of a tested antenna at different positions on each positive circular arc motion trail through the directional diagram testing device in the sailing process; the antenna to be measured is an antenna of a ground wave radar;
and drawing a directional diagram of the antenna to be measured according to the field intensity of the transmitting signal of the antenna to be measured at different positions on each regular circular arc motion track.
Optionally, the controlling, by using a fuzzy PID control method, the unmanned ship carrying the directional diagram testing apparatus to sail along each of the right circular arc-shaped motion trajectories respectively includes:
controlling the navigation speed of the unmanned ship by adopting a fuzzy PID control method;
and controlling the course of the unmanned ship by adopting a fuzzy PID control method.
Optionally, the controlling the navigation speed of the unmanned ship by using the fuzzy PID control method specifically includes:
acquiring the actual position of the unmanned ship by adopting a data fusion algorithm;
determining a given position of the unmanned ship based on the right circular arc motion trail;
determining a parameter adjustment amount of a first PID controller by adopting a first fuzzy controller according to the position difference between the given position and the actual position and the change rate of the position difference, and adjusting the parameter of the first PID controller to obtain an adjusted first PID controller;
and controlling the navigation speed of the unmanned ship by adopting the adjusted first PID controller according to the position difference between the given position and the actual position.
Optionally, the controlling the heading of the unmanned ship by using the fuzzy PID control method specifically includes:
acquiring the actual course of the unmanned ship by adopting a data fusion algorithm;
determining a given course of the unmanned ship based on the right circular arc motion track;
determining the parameter adjustment quantity of a second PID controller by adopting a second fuzzy controller according to the change rate of the course difference between the given course and the actual course, and adjusting the parameters of the second PID controller to obtain an adjusted second PID controller;
and controlling the heading of the unmanned ship by adopting the adjusted second PID controller according to the heading difference between the given heading and the actual heading.
Optionally, the data fusion algorithm is: and in the starting stage of the unmanned ship, position information acquired by a GPS, a DVL and a compass is respectively acquired to form a first position information set, and data fusion is carried out on three position information in the first position information set to obtain actual position information. The actual location information includes an actual location and an actual heading.
And respectively acquiring position information acquired by a GPS, an inertial navigation system and a DVL at the normal navigation stage of the unmanned ship to form a second position information set, and performing data fusion on three position information in the second position information set to obtain actual position information. The actual location information includes an actual location and an actual heading.
Optionally, the data fusion method is as follows:
determining one position information which deviates from the other two position information to be the largest in the three position information to delete;
and carrying out averaging operation on the remaining two pieces of position information to obtain the actual position information.
An unmanned ship based ground wave radar pattern measurement system, the system comprising:
the system comprises a regular circular arc motion trail making module, a ground wave radar directional diagram measuring module and a ground wave radar directional diagram processing module, wherein the regular circular arc motion trail making module is used for making a plurality of regular circular arc motion trails for ground wave radar directional diagram measurement; the plurality of the right circular arc-shaped motion tracks are a plurality of circles with different radiuses and taking a base station of the ground wave radar to be detected as a circle center, and the radius difference of any two right circular arc-shaped motion tracks is larger than the minimum test distance;
the measuring module is used for controlling the unmanned ship carrying the directional diagram testing device to sail along each positive arc-shaped motion track by adopting a fuzzy PID control method, and measuring the field intensity of the transmitting signal of the antenna to be tested at different positions on each positive arc-shaped motion track through the directional diagram testing device in the sailing process; the antenna to be measured is an antenna of a ground wave radar;
and the directional diagram drawing module is used for drawing the directional diagram of the antenna to be measured according to the field intensity of the transmitting signal of the antenna to be measured at different positions on each regular circular arc-shaped motion track.
Optionally, the measurement module specifically includes: the navigation speed control submodule is used for controlling the navigation speed of the unmanned ship by adopting a fuzzy PID control method; and the course control submodule is used for controlling the course of the unmanned ship by adopting a fuzzy PID control method.
Optionally, the cruise speed control sub-module specifically includes: the first data fusion unit is used for acquiring the actual position of the unmanned ship by adopting a data fusion algorithm; a given position determination unit for determining a given position of the unmanned ship based on the right circular arc motion trajectory; a first parameter adjusting unit, configured to determine, by using a first fuzzy controller, a parameter adjustment amount of a first PID controller according to a position difference between the given position and the actual position and a change rate of the position difference, and adjust a parameter of the first PID controller to obtain an adjusted first PID controller; and the navigation speed control unit is used for controlling the navigation speed of the unmanned ship by adopting the adjusted first PID controller according to the position difference between the given position and the actual position.
Optionally, the heading control sub-module specifically includes: the second data fusion unit is used for acquiring the actual course of the unmanned ship by adopting a data fusion algorithm; the given course determining unit is used for determining the given course of the unmanned ship based on the normal circular arc motion track; the second parameter adjusting unit is used for determining the parameter adjusting quantity of a second PID controller by adopting a second fuzzy controller according to the change rate of the course difference between the given course and the actual course, and adjusting the parameters of the second PID controller to obtain an adjusted second PID controller; and the course control unit is used for controlling the course of the unmanned ship by adopting the adjusted second PID controller according to the course difference between the given course and the actual course.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a method and a system for measuring a ground wave radar directional diagram based on an unmanned ship, wherein the method comprises the following steps: formulating a plurality of right circular arc motion trails for measuring a ground wave radar directional diagram; controlling an unmanned ship carrying a directional diagram testing device to sail along each positive circular arc motion trail by adopting a fuzzy PID control method, and measuring the field intensity of a transmitting signal of a tested antenna at different positions on each positive circular arc motion trail through the directional diagram testing device in the sailing process; and drawing a directional diagram of the antenna to be measured according to the field intensity of the emission signal of the antenna to be measured at different positions on each regular circular arc motion trail. According to the directional diagram measuring method, the directional diagram testing device carried by the unmanned ship is controlled by adopting a fuzzy PID control method to measure the directional diagram, the technical defect that the circular arc path of the running fishing ship cannot ensure the precision due to the error influence of artificial control is overcome, the sailing precision in the directional diagram measuring process is improved, and the precision of the tested directional diagram is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of a method for unmanned ship-based ground wave radar pattern measurement according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for measuring a ground wave radar directional diagram based on an unmanned ship according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of navigation control provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a navigation mode provided by an embodiment of the invention;
FIG. 5 is a schematic diagram of the cruise control provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a course control provided by an embodiment of the present invention;
FIG. 7 is a directional diagram in rectangular coordinates provided by an embodiment of the present invention;
fig. 8 is a polar pattern diagram according to an embodiment of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention aims to provide a method and a system for measuring a ground wave radar directional diagram based on an unmanned ship, so that the navigation precision in the directional diagram measuring process is improved, and the precision of a tested directional diagram is further improved.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description thereof.
Example 1
An embodiment 1 of the present invention provides a method for measuring a ground wave radar directional pattern based on an unmanned ship, where a measurement principle of the measurement method is shown in fig. 1, where fig. 1 (a) is a schematic diagram of a distribution of a normal circular arc motion trajectory, fig. 1 (b) is a schematic diagram of a test principle, and as shown in fig. 1, an antenna to be measured (an antenna of a ground wave radar) is used for transmitting and is fixed (a tower is built at a point P in fig. 1), an auxiliary antenna (an antenna of a directional pattern test apparatus) is fixed on the unmanned ship, and a radius (a linear distance between the unmanned ship and the point P) is used as R from near to far, respectively 1 、R 2 、R 3 And setting a fixed route (a circular arc motion track) to do circular arc motion, and receiving the field intensity emitted by the antenna to be measured in the motion process so as to obtain a directional diagram in the plane. The unmanned ship can avoid obstacles and navigate independently, and compared with a manned shipThe method has the advantages that the line patrol precision is high, the running track of the orthodrome can be guaranteed through the path presetting method, the precision degree is high, the unmanned ship is applied to ground wave radar directional diagram measurement, the accuracy of the directional diagram is greatly improved, and therefore powerful support is provided for calibration work of the ground wave radar. In addition, the unmanned ship is used for measuring the ground wave radar directional diagram, so that the working intensity of personnel can be greatly reduced, the working environment is improved, the danger coefficient of work is reduced, and the working efficiency is improved, and therefore, manpower and material resources are saved.
Based on the above principle, as shown in fig. 2, the method includes the following steps:
Illustratively, step 201 includes the steps of:
a) Determining the minimum test distance and 3 test radii R 1 、R 2 、R 3 ；
b) And setting a right circular arc motion track of the unmanned ship according to the test radius.
Illustratively, step 202 includes the steps of:
c) Respectively starting shore-based equipment and shipborne equipment;
d) The unmanned ship runs along a preset track;
e) The field strength is recorded.
The navigation control principle of the step d) is shown in fig. 3, the unmanned ship adopts a navigation strategy of multi-sensor fusion, and a combined navigation system or a single navigation system is adopted according to real-time data decision of various navigation sensors in an actual operation environment. And (3) predicting various complex environments and emergency situations which may be encountered by the unmanned ship in the navigation process by combining the actual operation environment of the unmanned ship with the operation environment suitable for different navigation sensor combinations, thereby formulating a corresponding navigation strategy.
The principle for realizing the navigation used in step d) is shown in fig. 4, an STM32F407 is used as a main control, navigation sensors such as a GPS, an inertial navigation system, a DVL, a compass and the like are mounted, and a navigation system suitable for the multi-sensor fusion of the scheme is designed on the basis of a traditional data fusion algorithm. In the system starting stage, inertial navigation (low cost) cannot find north, and navigation is carried out by means of a GPS (global positioning system), a DVL (digital video recorder) and a compass; during normal operation, inertial navigation finishes north finding by the movement of the unmanned ship, and navigation is carried out by means of a GPS, inertial navigation and DVL; if the GPS signal is weak and cannot be positioned due to an accident, navigation can be carried out by depending on inertial navigation and DVL. The multi-sensor fusion navigation system is carried on the unmanned ship, and is tested in an actual working environment, and a navigation algorithm is further optimized through experimental data.
In the step d), the principle of controlling the navigation speed of the unmanned ship by adopting a fuzzy PID control method is shown in FIG. 5, the PID control has the characteristics of simple structure, strong adaptability and the like, and is the most widely applied control technology in practical application, but parameter setting of the conventional PID controller is difficult, and the unmanned ship has strong nonlinear characteristics due to the particularity of the working environment, so that specific variation of hydrodynamic force in different navigation stages is large, and the conventional PID controller is difficult to obtain satisfactory control effect. Fuzzy control is an important branch of intelligent control, and compared with conventional PID control, the fuzzy control method has the advantages that a mathematical model of a controlled object does not need to be established, and certain adaptability to time lag, nonlinearity and time-varying property of the controlled object is achieved, so that the fuzzy PI control combining the fuzzy control and the PID control is applied to the unmanned ship. The fuzzy PID control is to synthesize the knowledge and experience of experts or field operators to form a knowledge base to simulate the thinking decision process of human and realize the automatic adjustment of PID parameters.
Based on the principle, the method for controlling the navigation speed of the unmanned ship by adopting the fuzzy PID control method comprises the following specific steps: acquiring the actual position of the unmanned ship by adopting a data fusion algorithm; determining a given position of the unmanned ship based on the regular circular arc motion track; determining a parameter adjustment amount of a first PID controller by adopting a first fuzzy controller according to the position difference between the given position and the actual position and the change rate of the position difference, and adjusting the parameter of the first PID controller to obtain an adjusted first PID controller; and controlling the navigation speed of the unmanned ship by adopting the adjusted first PID controller according to the position difference between the given position and the actual position.
In the step d), the principle of controlling the course of the unmanned ship by adopting a fuzzy PID control method is shown in FIG. 6, and the course control is one of the main contents of the bottom layer control of the unmanned ship and is the basis for obtaining a good track tracking effect. In order to obtain good control performance and not to complicate the problem, the heading adopts closed-loop control, and the three-dimensional magnetic compass is used as a feedback sensor and the differential speed of the propeller is used for realizing the closed-loop control of the sailing direction. The input to the heading controller being a heading error
And rate of change of error
The output is the differential speed V of the propeller S 。
Based on the principle, the method for controlling the course of the unmanned ship by adopting the fuzzy PID control method specifically comprises the following steps: acquiring the actual course of the unmanned ship by adopting a data fusion algorithm; determining the given course of the unmanned ship based on the normal circular arc motion track; determining the parameter adjustment amount of a second PID controller by adopting a second fuzzy controller according to the change rate of the course difference between the given course and the actual course, and adjusting the parameter of the second PID controller to obtain an adjusted second PID controller; and controlling the heading of the unmanned ship by adopting the adjusted second PID controller according to the heading difference between the given heading and the actual heading.
The data fusion algorithm is as follows: in the starting stage of the unmanned ship, position information acquired by a GPS, a DVL and a compass is acquired respectively to form a first position information set, and three pieces of position information in the first position information set are subjected to data fusion to obtain actual position information; and in the normal navigation stage of the unmanned ship, respectively acquiring position information acquired by a GPS, an inertial navigation system and a DVL to form a second position information set, and performing data fusion on three position information in the second position information set to obtain actual position information.
The data fusion method comprises the following steps: determining one position information which deviates from the other two position information to be the largest in the three position information to delete; and carrying out averaging operation on the remaining two pieces of position information to obtain the actual position information. The mode of determining the position information which deviates from the other two position information to the maximum is to calculate the sum of the offset distances of the position information relative to the other two positions respectively to be used as the total offset distance, and select the position information corresponding to the maximum total offset distance to be used as the position information which deviates from the other two position information to the maximum.
Example 2
The embodiment 2 of the invention provides a ground wave radar directional diagram measuring system based on an unmanned ship, which comprises:
the system comprises a regular circular arc motion trail making module, a ground wave radar directional diagram measuring module and a ground wave radar directional diagram processing module, wherein the regular circular arc motion trail making module is used for making a plurality of regular circular arc motion trails for ground wave radar directional diagram measurement; the plurality of the right circular arc-shaped motion tracks are a plurality of circles with different radiuses and with the base station of the ground wave radar to be detected as the center of a circle, and the radius difference of any two right circular arc-shaped motion tracks is larger than the minimum test distance.
The measuring module is used for controlling the unmanned ship carrying the directional diagram testing device to sail along each positive arc-shaped motion track by adopting a fuzzy PID control method, and measuring the field intensity of the transmitting signal of the antenna to be tested at different positions on each positive arc-shaped motion track through the directional diagram testing device in the sailing process; the antenna to be measured is an antenna of a ground wave radar.
The measurement module specifically includes: the navigation speed control submodule is used for controlling the navigation speed of the unmanned ship by adopting a fuzzy PID control method; and the course control sub-module is used for controlling the course of the unmanned ship by adopting a fuzzy PID control method.
Wherein, the navigation speed control submodule specifically includes: the first data fusion unit is used for acquiring the actual position of the unmanned ship by adopting a data fusion algorithm; a given position determination unit for determining a given position of the unmanned ship based on the right circular arc motion trajectory; a first parameter adjusting unit, configured to determine, by using a first fuzzy controller, a parameter adjustment amount of a first PID controller according to a position difference between the given position and the actual position and a change rate of the position difference, and adjust a parameter of the first PID controller to obtain an adjusted first PID controller; and the navigation speed control unit is used for controlling the navigation speed of the unmanned ship by adopting the adjusted first PID controller according to the position difference between the given position and the actual position.
The course control submodule specifically comprises: the second data fusion unit is used for acquiring the actual course of the unmanned ship by adopting a data fusion algorithm; the given course determining unit is used for determining the given course of the unmanned ship based on the right circular arc motion track; the second parameter adjusting unit is used for determining the parameter adjusting quantity of the second PID controller by adopting a second fuzzy controller according to the change rate of the course difference between the given course and the actual course, and adjusting the parameters of the second PID controller to obtain the adjusted second PID controller; and the course control unit is used for controlling the course of the unmanned ship by adopting the adjusted second PID controller according to the course difference between the given course and the actual course.
And the directional diagram drawing module is used for drawing the directional diagram of the antenna to be measured according to the field intensities of the transmitting signals of the antenna to be measured at different positions on each regular circular arc motion track.
A method and a system for measuring a ground wave radar directional diagram based on an unmanned ship are disclosed, wherein the method comprises the following steps: formulating a plurality of right circular arc motion trails for measuring a ground wave radar directional diagram; controlling an unmanned ship carrying a directional diagram testing device to sail along each positive circular arc motion trail by adopting a fuzzy PID control method, and measuring the field intensity of a transmitting signal of a tested antenna at different positions on each positive circular arc motion trail through the directional diagram testing device in the sailing process; and drawing a directional diagram of the antenna to be measured according to the field intensity of the emission signal of the antenna to be measured at different positions on each regular circular arc motion trail. According to the directional diagram measuring method, the directional diagram measuring device carried by the unmanned ship is controlled by adopting a fuzzy PID control method to measure the directional diagram, the technical defect that the circular arc path of the running fishing ship cannot guarantee the precision due to the error influence of manual control is overcome, the navigation precision in the directional diagram measuring process is improved, and the precision of the tested directional diagram is further improved.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A method for measuring a ground wave radar directional diagram based on an unmanned ship is characterized by comprising the following steps:
formulating a plurality of normal circular arc motion trails for measuring a ground wave radar directional diagram; the plurality of positive arc-shaped motion tracks are a plurality of circles with different radiuses and with the base station of the ground wave radar to be detected as the center of a circle, and the radius difference of any two positive arc-shaped motion tracks is larger than the minimum test distance;
controlling an unmanned ship carrying a directional diagram testing device to sail along each positive circular arc motion trail by adopting a fuzzy PID control method, and measuring the field intensity of a transmitting signal of a tested antenna at different positions on each positive circular arc motion trail through the directional diagram testing device in the sailing process; the antenna to be measured is an antenna of a ground wave radar;
the actual position and the actual course in the control process of the fuzzy PID control method are obtained by adopting a data fusion algorithm, wherein the data fusion algorithm is as follows:
in the starting stage of the unmanned ship, position information acquired by a GPS, a DVL and a compass is acquired respectively to form a first position information set, and three pieces of position information in the first position information set are subjected to data fusion to obtain actual position information;
in the normal navigation stage of the unmanned ship, respectively acquiring position information acquired by a GPS (global positioning system), an inertial navigation system and a DVL (dynamic velocity log L) to form a second position information set, and performing data fusion on three position information in the second position information set to obtain actual position information;
the data fusion mode is as follows:
determining one position information which is most deviated from the other two position information in the three position information to delete; the mode of determining the position information which deviates from the other two position information to the maximum is that the sum of the offset distances of the position information relative to the other two positions is calculated respectively to be used as the total offset distance, and the position information corresponding to the maximum total offset distance is selected to be used as the position information which deviates from the other two position information to the maximum;
carrying out averaging operation on the remaining two pieces of position information to obtain the actual position information;
and drawing a directional diagram of the antenna to be measured according to the field intensity of the emission signal of the antenna to be measured at different positions on each regular circular arc motion trail.
2. The unmanned-vessel-based ground wave radar directional pattern measuring method according to claim 1, wherein the controlling, by using a fuzzy PID control method, the unmanned vessel equipped with the directional pattern testing device to sail along each of the right circular arc-shaped motion trajectories respectively comprises:
controlling the navigation speed of the unmanned ship by adopting a fuzzy PID control method;
and controlling the course of the unmanned ship by adopting a fuzzy PID control method.
3. The unmanned-vessel-based ground wave radar directional diagram measuring method according to claim 2, wherein the controlling of the navigation speed of the unmanned vessel by using the fuzzy PID control method specifically comprises:
acquiring the actual position of the unmanned ship by adopting a data fusion algorithm;
determining a given position of the unmanned ship based on the regular circular arc motion track;
determining a parameter adjustment amount of a first PID controller by adopting a first fuzzy controller according to the position difference between the given position and the actual position and the change rate of the position difference, and adjusting the parameter of the first PID controller to obtain an adjusted first PID controller;
and controlling the navigation speed of the unmanned ship by adopting the adjusted first PID controller according to the position difference between the given position and the actual position.
4. The unmanned-vessel-based ground wave radar directional diagram measuring method according to claim 2, wherein the controlling of the heading of the unmanned vessel by the fuzzy PID control method specifically comprises:
acquiring the actual course of the unmanned ship by adopting a data fusion algorithm;
determining a given course of the unmanned ship based on the right circular arc motion track;
determining the parameter adjustment quantity of a second PID controller by adopting a second fuzzy controller according to the change rate of the course difference between the given course and the actual course, and adjusting the parameters of the second PID controller to obtain an adjusted second PID controller;
and controlling the heading of the unmanned ship by adopting the adjusted second PID controller according to the heading difference between the given heading and the actual heading.
5. An unmanned-vessel-based ground wave radar directional pattern measurement system, the system comprising:
the system comprises a regular circular arc motion trail making module, a ground wave radar directional diagram measuring module and a control module, wherein the regular circular arc motion trail making module is used for making a plurality of regular circular arc motion trails for measuring a ground wave radar directional diagram; the plurality of the right circular arc-shaped motion tracks are a plurality of circles with different radiuses and taking a base station of the ground wave radar to be detected as a circle center, and the radius difference of any two right circular arc-shaped motion tracks is larger than the minimum test distance;
the measuring module is used for controlling the unmanned ship carrying the directional diagram testing device to sail along each positive arc-shaped motion track by adopting a fuzzy PID control method, and measuring the field intensity of the transmitting signal of the antenna to be tested at different positions on each positive arc-shaped motion track through the directional diagram testing device in the sailing process; the antenna to be measured is an antenna of a ground wave radar;
the actual position and the actual course in the control process of the fuzzy PID control method are obtained by adopting a data fusion algorithm, wherein the data fusion algorithm is as follows:
in the starting stage of the unmanned ship, position information acquired by a GPS, a DVL and a compass is acquired respectively to form a first position information set, and three pieces of position information in the first position information set are subjected to data fusion to obtain actual position information;
in the normal navigation stage of the unmanned ship, respectively acquiring position information acquired by a GPS (global positioning system), an inertial navigation system and a DVL (dynamic velocity log L) to form a second position information set, and performing data fusion on three position information in the second position information set to obtain actual position information;
the data fusion method comprises the following steps:
determining one position information which is most deviated from the other two position information in the three position information to delete; determining the position information which deviates from the other two position information to the maximum in a mode that the sum of the offset distances of the position information relative to the other two positions is calculated respectively to be used as the total offset distance, and selecting the position information corresponding to the maximum total offset distance to be used as the position information which deviates from the other two position information to the maximum;
averaging the rest two pieces of position information to obtain the actual position information;
and the directional diagram drawing module is used for drawing the directional diagram of the antenna to be measured according to the field intensity of the transmitting signal of the antenna to be measured at different positions on each regular circular arc-shaped motion track.
6. The unmanned-vessel-based ground wave radar pattern measurement system of claim 5, wherein the measurement module specifically comprises:
the navigation speed control submodule is used for controlling the navigation speed of the unmanned ship by adopting a fuzzy PID control method;
and the course control submodule is used for controlling the course of the unmanned ship by adopting a fuzzy PID control method.
7. The unmanned-vessel-based ground wave radar pattern measurement system of claim 6, wherein the cruise speed control submodule specifically comprises:
the first data fusion unit is used for acquiring the actual position of the unmanned ship by adopting a data fusion algorithm;
a given position determining unit for determining a given position of the unmanned ship based on the regular circular arc motion trail;
a first parameter adjusting unit, configured to determine a parameter adjustment amount of a first PID controller by using a first fuzzy controller according to a position difference between the given position and the actual position and a change rate of the position difference, and adjust a parameter of the first PID controller to obtain an adjusted first PID controller;
and the navigation speed control unit is used for controlling the navigation speed of the unmanned ship by adopting the adjusted first PID controller according to the position difference between the given position and the actual position.
8. The unmanned-vessel-based ground wave radar directional pattern measurement system of claim 6, wherein the heading control sub-module specifically comprises:
the second data fusion unit is used for acquiring the actual course of the unmanned ship by adopting a data fusion algorithm;
the given course determining unit is used for determining the given course of the unmanned ship based on the right circular arc motion track;
the second parameter adjusting unit is used for determining the parameter adjusting quantity of the second PID controller by adopting a second fuzzy controller according to the change rate of the course difference between the given course and the actual course, and adjusting the parameters of the second PID controller to obtain the adjusted second PID controller;
and the course control unit is used for controlling the course of the unmanned ship by adopting the adjusted second PID controller according to the course difference between the given course and the actual course.
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