CN115542906A - Small unmanned ship autonomous navigation method under GNSS signal unlocking condition - Google Patents
Small unmanned ship autonomous navigation method under GNSS signal unlocking condition Download PDFInfo
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- CN115542906A CN115542906A CN202211190513.4A CN202211190513A CN115542906A CN 115542906 A CN115542906 A CN 115542906A CN 202211190513 A CN202211190513 A CN 202211190513A CN 115542906 A CN115542906 A CN 115542906A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The invention discloses a small unmanned ship autonomous navigation method under the condition of GNSS signal lock losing, which comprises the steps of obtaining navigation information and attitude information of an unmanned ship, wherein the navigation information and the attitude information comprise positioning information, speed information and attitude information of the unmanned ship; determining the air route information of the unmanned ship according to the navigation task point, wherein the air route information comprises a GNSS signal normal area and a GNSS signal lock losing area; and based on the acquired navigation information and air route information of the unmanned ship, the unmanned ship is controlled to autonomously navigate through a GNSS signal lock losing area by matching with PID adjustment. According to the invention, the navigation information and the attitude information of the unmanned ship are obtained, and the course information is determined according to the task point, so that the course of the unmanned ship in the GNSS signal unlocking area is calculated and determined, and the autonomous navigation task is completed, thereby solving the problem that the long-endurance and high-precision autonomous navigation can not be provided for the small unmanned ship when the GNSS signal is unlocked.
Description
Technical Field
The invention relates to the technical field of unmanned ship navigation, in particular to a small unmanned ship autonomous navigation method under the condition of GNSS signal lock losing.
Background
When the small unmanned ship automatically navigates on the water surface, the small unmanned ship generally utilizes GNSS, IMU and other equipment for positioning, speed measurement and attitude measurement, and can provide accurate navigation information for navigation of the unmanned ship when GNSS signals are good. However, when the unmanned ship navigates to a bridge opening and a region shielded by shore trees, the GNSS received signals become poor and even the signals lose lock, so that the unmanned ship loses positioning information and cannot navigate autonomously.
The prior art has the defects that the GNSS/IMU combined navigation mode is adopted at present, only IMU navigation is needed when GNSS signals are unlocked, but the IMU applied to the small unmanned ship is limited by cost, poor in precision and easy to disperse, long-time high-precision navigation is difficult to maintain, and the navigation requirement of the unmanned ship during long-time navigation when the GNSS signals are unlocked cannot be met.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and in order to realize the purpose, the small unmanned ship autonomous navigation method under the condition of GNSS signal lock losing is adopted to solve the problems in the background technology.
A small unmanned ship autonomous navigation method under the condition of GNSS signal lock losing comprises the following steps:
acquiring navigation information and attitude information of the unmanned ship, wherein the navigation information and the attitude information comprise positioning information, speed information and attitude information of the unmanned ship;
determining the air route information of the unmanned ship according to the navigation task point, wherein the air route information comprises a GNSS signal normal area and a GNSS signal lock losing area;
and based on the acquired navigation information and air route information of the unmanned ship, the unmanned ship is controlled to autonomously navigate through a GNSS signal lock losing area by matching with PID adjustment.
As a further aspect of the invention: the specific steps of acquiring the navigation information and the attitude information of the unmanned ship comprise:
the navigation information and the attitude information of the unmanned ship are obtained by utilizing a GNSS and an AHRS, the GNSS provides the navigation information of the unmanned ship, including positioning and speed information, and the AHRS measures the attitude information of the unmanned ship, including a course angle, a pitch angle and a roll angle.
As a further scheme of the invention: the specific step of determining the course information of the unmanned ship according to the navigation task point comprises the following steps:
acquiring a starting point and an end point of a navigation task point;
and judging whether the GNSS signal of the unmanned ship can be acquired in real time according to the onboard controller, if so, determining that the area is a normal GNSS signal area, and otherwise, determining that the area is a GNSS signal lock losing area.
As a further aspect of the invention: the specific steps of controlling the unmanned ship to autonomously navigate through the GNSS signal lock-losing area based on the acquired navigation information and the air route information of the unmanned ship and by matching with PID regulation comprise:
when the unmanned ship enters a GNSS signal out-of-lock area, the unmanned ship measures a self course angle in real time by using an AHRS (attitude heading reference system), and the course determined according to the current course is a target course;
and adjusting and controlling the unmanned ship to exit the GNSS signal lock losing area by a preset throttle value in real time based on PID according to the obtained course angle and the target course.
As a further aspect of the invention: the ship speed corresponding to the control throttle of the unmanned ship motor needs to be calibrated in advance, when the unmanned ship is set to pass through a GNSS signal unlocking area at a certain fixed speed, the motor control throttle value corresponding to the set speed is used as a base value, and adjustment and control are carried out on the basis;
the navigation control calculation method for autonomous navigation of the unmanned ship through the GNSS signal lock losing area comprises the following steps:
err＝nav_bearing-boat_bearing
bearing_output＝kp*(err-err_last)+ki*err+kd*(err-2*err_last+err_last_last)
err_last_last＝err_last
err_last＝err
wherein err is a difference value between the target course and the current course of the unmanned ship;
err _ last is the last calculated course angle error;
err _ las _ last is the last calculated course angle error;
nav _ bearing is a target course and is determined by a task route;
the boat _ bearing is the current course of the unmanned ship and is obtained by the AHRS;
the bearing _ output is the calculation of a course angle error PID;
kp, ki and kd are PID adjusting parameters and are obtained by self-setting of a user;
after the calculation is finished, (bearing _ output + throttle value) is used as a control signal and sent to the controller to control the motor to act, so that the heading control is achieved, and the unmanned ship is controlled to run out of the GNSS signal unlocking area.
Compared with the prior art, the invention has the following technical effects:
by adopting the technical scheme, the navigation information and the attitude information of the unmanned ship are obtained, and the course information is determined according to the task point, so that the course of the unmanned ship in the GNSS signal lock losing area is calculated and determined, and the autonomous navigation task is completed. Therefore, the problem that the GNSS signal cannot provide autonomous navigation with long navigation time and high precision for the small unmanned ship when being unlocked is solved.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a schematic diagram of steps of an autonomous navigation method according to an embodiment of the present disclosure;
FIG. 2 is a block flow diagram of an autonomous navigation method according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a scenario in which an unmanned ship passes through a bridge opening according to an embodiment of the present disclosure.
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.
Referring to fig. 1 and fig. 2, in an embodiment of the present invention, a method for autonomous navigation of a small unmanned ship under a GNSS signal out-of-lock condition includes:
s1, acquiring navigation information and attitude information of the unmanned ship, wherein the navigation information and the attitude information comprise positioning information, speed information and attitude information of the unmanned ship, and the method comprises the following specific steps:
the navigation information and the attitude information of the unmanned ship are obtained by utilizing a GNSS and an AHRS, the GNSS provides the navigation information of the unmanned ship, including positioning and speed information, and the AHRS measures the attitude information of the unmanned ship, including a course angle, a pitch angle and a roll angle.
In the embodiment, the GNSS and the AHRS are used for providing navigation information for the unmanned ship, the GNSS can provide positioning and speed information for the unmanned ship, and the AHRS measures attitude information (course angle, pitch angle and roll angle).
S2, determining the course information of the unmanned ship according to the navigation task point, wherein the course information comprises a GNSS signal normal area and a GNSS signal lock losing area; the method comprises the following specific steps:
acquiring a starting point and an end point of a navigation task point;
and judging whether the GNSS signal of the unmanned ship can be acquired in real time according to the onboard controller, wherein if the GNSS signal is in a normal area, and if not, the GNSS signal is in an unlocked area.
S3, based on the acquired navigation information and air route information of the unmanned ship, and matched with PID (proportion integration differentiation) regulation to control the autonomous navigation of the unmanned ship to pass through a GNSS (global navigation satellite system) signal lock losing area, the method specifically comprises the following steps:
when the unmanned ship enters a GNSS signal out-of-lock area, the unmanned ship measures a self course angle in real time by using an AHRS (attitude heading reference system), and the course determined according to the current course is a target course;
and adjusting and controlling the unmanned ship to exit the GNSS signal lock losing area by a preset throttle value in real time based on PID according to the obtained course angle and the target course.
In this embodiment, an application scenario is shown in fig. 3. The navigation line AB is determined by navigation points A and B, when the unmanned ship can receive GNSS signals outside a bridge opening, the unmanned ship can obtain position and speed information of the unmanned ship (AC and DB on the navigation line are normal GNSS signal intervals), a CD section is a GNSS signal unlocking area, the unmanned ship cannot obtain the position and speed information of the unmanned ship in the area, an automatic control algorithm of the unmanned ship needs to obtain the position information of the unmanned ship in real time to control the unmanned ship to realize path tracking, and a conventional control algorithm cannot be effective at the moment, so that the unmanned ship cannot pass through the CD section. The invention is mainly used for solving the problem that the unmanned ship passes through the CD interval: once the GNSS signals are unlocked, the unmanned ship measures the course angle of the unmanned ship by using the AHRS, takes the course determined by the flight line AB as the target course, and controls the unmanned ship to drive through the CD interval along the course determined by the AB by using PID regulation and a set throttle value (control speed), so that the unmanned ship can pass through the GNSS signal unlocking area.
err＝nav_bearing-boat_bearing
bearing_output＝kp*(err-err_last)+ki*err+kd*(err-2*err_last+err_last_last)
err_last_last＝err_last
err_last＝err
Wherein err is a difference value between the target course and the current course of the unmanned ship;
err _ last is the last calculated course angle error;
err _ las _ last is the last calculated course angle error;
nav _ bearing is a target course and is determined by a task route;
the boat _ bearing is the current course of the unmanned ship and is obtained by the AHRS;
acquiring _ output is calculation of a course angle error PID;
kp, ki and kd are PID adjusting parameters and are obtained by self-setting of a user;
and (bearing _ output + throttle value) is used for controlling the motor to act, so that the unmanned ship can be ensured to autonomously navigate according to the planned course and pass through the GNSS signal lock losing area.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made herein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, and all such modifications are intended to be included within the scope of the invention.
Claims (5)
1. A small unmanned ship autonomous navigation method under the condition of GNSS signal lock losing is characterized by comprising the following specific steps:
acquiring navigation information and attitude information of the unmanned ship, wherein the navigation information and the attitude information comprise positioning information, speed information and attitude information of the unmanned ship;
determining the air route information of the unmanned ship according to the navigation task point, wherein the air route information comprises a GNSS signal normal area and a GNSS signal lock losing area;
and controlling the unmanned ship to autonomously navigate through the GNSS signal lock losing area by matching with PID regulation based on the acquired navigation information and air route information of the unmanned ship.
2. The method according to claim 1, wherein the step of obtaining navigation information and attitude information of the unmanned ship comprises:
the navigation information and the attitude information of the unmanned ship are obtained by utilizing the GNSS and the AHRS, the GNSS provides the navigation information of the unmanned ship, the navigation information comprises positioning information and speed information, and the AHRS measures the attitude information of the unmanned ship, and the attitude information comprises a course angle, a pitch angle and a roll angle.
3. The method as claimed in claim 1, wherein the step of determining the course information of the unmanned ship based on the navigation mission points comprises:
acquiring a starting point and an end point of a navigation task point;
and judging whether the GNSS signal of the unmanned ship can be acquired in real time according to the onboard controller, wherein if the GNSS signal is in a normal area, and if not, the GNSS signal is in an unlocked area.
4. The method for autonomously navigating the small unmanned ship under the condition of GNSS signal unlocking according to claim 1, wherein the specific steps of controlling the unmanned ship to autonomously navigate through the GNSS signal unlocking area based on the acquired navigation information and course information of the unmanned ship and cooperating with PID regulation comprise:
when the unmanned ship enters a GNSS signal out-of-lock area, the unmanned ship measures a self course angle in real time by using an AHRS (attitude heading reference system), and the course determined according to the current course is a target course;
and adjusting and controlling the unmanned ship to drive out of the GNSS signal unlocking area by a preset motor throttle value in real time based on PID according to the obtained course angle and the target course.
5. The autonomous navigation method for the small unmanned ship under the GNSS signal out-of-lock condition according to claim 4, characterized in that the ship speed corresponding to the control throttle of the unmanned ship motor is calibrated in advance, when the unmanned ship is set to pass through the GNSS signal out-of-lock area at a certain fixed speed, the motor control throttle value corresponding to the set speed is taken as a base value, and adjustment and control are performed on the basis;
the navigation control calculation method for autonomous navigation of the unmanned ship through the GNSS signal lock losing area comprises the following steps:
err＝nav_bearing-boat_bearing
bearing_output＝kp*(err-err_last)+ki*err+kd*(err-2*err_last+err_last_last)
err_last_last＝err_last
err_last＝err
wherein err is a difference value between the target course and the current course of the unmanned ship;
err _ last is the last calculated course angle error;
err _ las _ last is the last calculated course angle error;
nav _ bearing is a target course and is determined by a task route;
the boat _ bearing is the current course of the unmanned ship and is obtained by the AHRS;
the bearing _ output is the calculation of a course angle error PID;
kp, ki and kd are PID adjusting parameters and are obtained by self-setting of a user;
after the calculation is finished, (bearing _ output + throttle value) is used as a control signal and sent to the controller to control the motor to act, so that the heading control is achieved, and the unmanned ship is controlled to run out of the GNSS signal unlocking area.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116720029A (en) * | 2023-06-13 | 2023-09-08 | 黄河水文勘察测绘局 | Calculation method based on surface flow velocity of unmanned ship survey section |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116720029A (en) * | 2023-06-13 | 2023-09-08 | 黄河水文勘察测绘局 | Calculation method based on surface flow velocity of unmanned ship survey section |
| CN116720029B (en) * | 2023-06-13 | 2024-04-16 | 黄河水文勘察测绘局 | Calculation method based on surface flow velocity of unmanned ship survey section |
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