CN206710888U - A kind of unmanned target ship with autonomous navigation pattern - Google Patents
A kind of unmanned target ship with autonomous navigation pattern Download PDFInfo
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- CN206710888U CN206710888U CN201720285945.1U CN201720285945U CN206710888U CN 206710888 U CN206710888 U CN 206710888U CN 201720285945 U CN201720285945 U CN 201720285945U CN 206710888 U CN206710888 U CN 206710888U
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Abstract
The utility model discloses a kind of unmanned target ship with autonomous navigation pattern, its drip irrigation device is that it includes hull, power and course changing control mechanism, navigate by water master control system module, communication link module, and GNSS navigation and positioning system modules, unmanned target ship also includes remote command upper computer control system module, power and course changing control mechanism are controlled for the navigation to hull and steering, communication link module is used for the sail mode information for receiving the transmission of remote command upper computer control system module, GNSS navigates to be used to carry out course to hull with positioning system modules, the speed of a ship or plane, position, and the monitoring of posture, navigate by water master control system module and receive communication link module and GNSS navigation and the information of positioning system modules.A kind of unmanned target ship with autonomous navigation pattern of the present utility model can carry out the control that autonomous navigation saves manpower, reduce human cost and reduce unmanned target ship manipulation difficulty, improve the authenticity of water surface operation.
Description
Technical field
A kind of target ship is the utility model is related to, in particular, it is related to a kind of unmanned target with autonomous navigation pattern
Ship.
Background technology
Now with unmanned target ship all use floater substantially（It is commonly called as " dead target "）Or remote controlled unmanned target ship two
Kind mode.And in some application fields, it is necessary to unmanned target ship has the ability of autonomous navigation, it is random to change course and navigation
Speed come simulate reality " enemy warship " do it is conventional avoid locked action, this just needs unmanned target ship to identify the position of itself
Put, course, the speed of a ship or plane, the information such as posture, by from main regulation navigational parameter, controlling related executing agency to make relevant action；
Still " dead target " is on the high side for currently used unmanned target ship, and in ball firing manoeuvre, tactics can not be examined by killing target
With the actual combat performance of weapon.Only " maneuvering target " could reflect truth, but " maneuvering target " function is single at present, can only be by long-range distant
The mode of control, is started, is shut down, being moved backward, high speed, middling speed, low speed, right-hand rotation rudder, the action such as port carry out relevant control, this
Sample control mode security, real-time be not high.
Utility model content
In view of the deficienciess of the prior art, the purpose of this utility model is that autonomous navigation section can be carried out by providing one kind
The control of manpower has been saved, human cost has been reduced and reduces unmanned target ship manipulation difficulty, improve the authenticity of water surface operation
Unmanned target ship with autonomous navigation pattern.
To achieve the above object, the utility model provides following technical scheme：A kind of nothing with autonomous navigation pattern
People's target ship, it includes hull, power and course changing control mechanism, navigation master control system module, communication link module and GNSS and led
Boat and positioning system modules, power and the course changing control mechanism, navigation master control system module, communication link module and
GNSS is navigated and positioning system modules are arranged in hull, and described unmanned target ship also includes remote command PC control
System module, power and the course changing control mechanism are controlled for the navigation to hull and steering, the communication link mould
Block is used for the sail mode information for receiving the transmission of remote command upper computer control system module, the GNSS navigation and alignment system
Module is used for the monitoring that course, the speed of a ship or plane, position and posture are carried out to hull, and the navigation master control system module receives communication
Link module and GNSS navigation and the information of positioning system modules, and control the operation of power and course changing control mechanism.
By using above-mentioned technical proposal, in remote command upper computer control system by communication link in real time to unmanned target
Ship send sail mode information, unmanned target ship after above- mentioned information is received, with reference to itself GNSS navigation with alignment system and
Course that Attitude measuring system determines, the speed of a ship or plane, position, the information such as posture, are navigated by water by the way that unmanned target ship is independently calculated
Route, navigates by water control parameter, such as steering angle and throttle size, and driving power and course changing control mechanism completes corresponding move
Make, unmanned target ship is carried out autonomous random navigation in the range of regulation navigation area according to sending instructions under host computer.
The utility model is further arranged to：Identifying system module is additionally provided with the hull.
By using above-mentioned technical proposal, under autonomous navigation mode of operation, unmanned target ship can be incited somebody to action by communication link
The information such as itself position, course, the speed of a ship or plane, posture send host computer, and pass through the processing of identifying system module so that have tight
The function of avoiding or bring in the case of urgency.
The utility model is further arranged to：The remote command upper computer control system module includes master controller and nothing
Line electricity transmitter, the input of the output end connection transmitting set of master controller, master controller are used to believe sail mode
Breath is modified and exported, and transmitting set receives sail mode information and sends the signal of sail mode information.
The utility model is further arranged to：The communication link module is radio receiver, radio receiver with
Transmitting set coordinates, for receiving the signal of sail mode information.
The utility model is further arranged to：The GNSS navigation and positioning system modules are GNSS navigator fix devices.
The utility model is further arranged to：Power and the course changing control mechanism includes the regulation being arranged in hull
Device, power motor and steering-engine, the adjuster are used for the operation for controlling power motor and steering-engine, the power motor
For driving the navigation of hull, the steering-engine is used for the steering operation for driving hull.
The utility model is further arranged to：The navigation master control system module is logical computer, the logical calculated
Machine is carried out by receiving communication link module and GNSS navigation and the signal of positioning system modules to power and course changing control mechanism
Control so that hull carries out flight operations.
The utility model is further arranged to：The identifying system module is detection sensor, the detection sensor with
Navigate by water master control system module and carry out data connection, detection sensor is by detecting the situation of hull exterior circumferential and producing detection letter
Number, after navigation master control system module receives detection signal, feature operation that hull can be controlled to be avoided and brought to.
The utility model tool has the advantage that：It is real by the accurate control to unmanned target ship course, the speed of a ship or plane and navigator fix
Existing autonomous navigation pattern, unmanned target ship manipulation difficulty is reduced, improve the authenticity of water surface operation, allow manoeuvre more exchange premium under battle conditions
Change training.
Brief description of the drawings
Fig. 1 is a kind of system architecture diagram of the unmanned target ship with autonomous navigation pattern of the utility model；
Fig. 2 is a kind of region autonomous navigation ideograph of the unmanned target ship with autonomous navigation pattern of the utility model；
Fig. 3 is a kind of center point area autonomous navigation pattern of the unmanned target ship with autonomous navigation pattern of the utility model
Figure；
Fig. 4 is a kind of point-to-point autonomous navigation ideograph of the unmanned target ship with autonomous navigation pattern of the utility model.
In figure：1st, hull；2nd, power and course changing control mechanism；3rd, master control system module is navigated by water；4th, communication link module；5、
GNSS navigates and positioning system modules；6th, remote command upper computer control system module；7th, identifying system module；8th, main control
Device；9th, transmitting set.
Embodiment
Referring to figs. 1 to shown in 4, a kind of unmanned target ship with autonomous navigation pattern of the present embodiment, it include hull 1,
Power and course changing control mechanism 2, navigation master control system module 3, communication link module 4 and GNSS navigation and alignment system mould
Block 5, power and the course changing control mechanism 2, navigation master control system module 3, communication link module 4 and GNSS navigation are with determining
Position system module 5 is arranged in hull 1, and described unmanned target ship also includes remote command upper computer control system module 6,
Power and the course changing control mechanism 2 is controlled for the navigation to hull 1 and steering, and the communication link module 4 is used for
Receive the sail mode information that remote command upper computer control system module 6 is sent, the GNSS navigation and positioning system modules 5
For carrying out the monitoring of course, the speed of a ship or plane, position and posture to hull 1, the navigation master control system module 3 receives communication link
Road module 4 and GNSS navigation and the information of positioning system modules 5, and control the operation of power and course changing control mechanism 2.
Identifying system module 7 is additionally provided with the hull 1.
The remote command upper computer control system module 6 includes master controller 8 and transmitting set 9, master controller 8
Output end connection transmitting set 9 input, master controller 8 be used for sail mode information is modified and exported,
Transmitting set 9 receives sail mode information and sends the signal of sail mode information.
The communication link module 4 is radio receiver, and radio receiver coordinates with transmitting set 9, is used for
Receive the signal of sail mode information.
The GNSS navigation and positioning system modules 5 are GNSS navigator fix devices.
Power and the course changing control mechanism 2 includes adjuster, power motor and the steering-engine being arranged in hull 1,
The adjuster is used for the operation for controlling power motor and steering-engine, and the power motor is used for the navigation for driving hull 1, institute
State the steering operation that steering-engine is used to drive hull 1.
The navigation master control system module 3 is logical computer, and the logical computer is by receiving communication link module 4
With GNSS navigation and the signal of positioning system modules 5, power and course changing control mechanism 2 are controlled so that hull 1 is navigated
Row operation.
The identifying system module 7 is detection sensor, and the detection sensor enters line number with navigation master control system module 3
According to connection, detection sensor is by detecting the situation of the exterior circumferential of hull 1 and producing detection signal, navigation master control system module 3
After receiving detection signal, feature operation that hull 1 can be controlled to be avoided and brought to.
By using above-mentioned technical proposal, in remote command upper computer control system by communication link in real time to unmanned target
Ship send sail mode information, unmanned target ship after above- mentioned information is received, with reference to itself GNSS navigation with alignment system and
Course that the attitude measurement system of hull 1 determines, the speed of a ship or plane, position, the information such as posture, are navigated by water by the way that unmanned target ship is independently calculated
Route, navigate by water control parameter, such as steering angle and throttle size, and driving power and course changing control mechanism 2 and complete corresponding move
Make, unmanned target ship is carried out autonomous random navigation in the range of regulation navigation area according to sending instructions under host computer.
1st, unmanned target ship control actions such as the speed of a ship or plane that change course at random in setting tradding limit are independently completed；
2nd, unmanned target ship determines self-position and course by GNSS navigation with alignment system, and is issued by communication link
Host computer；
3rd, unmanned target ship region autonomous navigation pattern；
4th, unmanned target ship center point area autonomous navigation pattern；
5th, unmanned target ship point-to-point autonomous navigation pattern；
6th, there should be safe distance collision prevention mechanism during unmanned target ship navigation, avoid colliding with other ships；
7th, nobody is autonomous navigates by water at random, safe ready；
Host computer only needs to be dealt on unmanned target ship sail mode, hours underway, region point by data link, and carries
Navigated and the self-position of alignment system determination and course for GNSS, then unmanned target ship can independently completes navigation route rule
Draw, and control itself speed of a ship or plane, course to change at random by programme path in real time, without other operations.
8th, water surface military exercise practicality is improved
The unmanned target ship of autonomous navigation changes the situation for beating " dead target " in the past, so as to improve tactics and force on very big level
The test stone of device actual combat performance.
Described above is only preferred embodiment of the present utility model, and the scope of protection of the utility model is not limited merely to
Above-described embodiment, all technical schemes belonged under the utility model thinking belong to the scope of protection of the utility model.It should refer to
Go out, for those skilled in the art, some improvement under the premise of the utility model principle is not departed from and
Retouching, these improvements and modifications also should be regarded as the scope of protection of the utility model.
Claims (8)
- A kind of 1. unmanned target ship with autonomous navigation pattern, it is characterised in that：It includes hull, power and course changing control machine Structure, navigation master control system module, communication link module and GNSS navigation and positioning system modules, the power and steering control Mechanism, navigation master control system module, communication link module and GNSS navigation processed are arranged at hull with positioning system modules Interior, described unmanned target ship also includes remote command upper computer control system module, and power and the course changing control mechanism uses It is controlled in the navigation to hull and steering, the communication link module is used to receive remote command upper computer control system mould The sail mode information that block is sent, GNSS navigation and positioning system modules be used to carrying out hull course, the speed of a ship or plane, position, And the monitoring of posture, the navigation master control system module receive communication link module and GNSS navigation and positioning system modules Information, and control the operation of power and course changing control mechanism.
- A kind of 2. unmanned target ship with autonomous navigation pattern according to claim 1, it is characterised in that：In the hull It is additionally provided with identifying system module.
- A kind of 3. unmanned target ship with autonomous navigation pattern according to claim 1, it is characterised in that：It is described remotely to refer to Waving upper computer control system module includes master controller and transmitting set, the output end connection radio transmitting of master controller The input of device, master controller are used to sail mode information is modified and exported, and transmitting set receives sail mode Information and the signal for sending sail mode information.
- A kind of 4. unmanned target ship with autonomous navigation pattern according to claim 3, it is characterised in that：The communication link Road module is radio receiver, and radio receiver coordinates with transmitting set, for receiving the letter of sail mode information Number.
- A kind of 5. unmanned target ship with autonomous navigation pattern according to claim 4, it is characterised in that：The GNSS is led Boat and positioning system modules are GNSS navigator fix devices.
- A kind of 6. unmanned target ship with autonomous navigation pattern according to claim 1, it is characterised in that：The power and Course changing control mechanism includes adjuster, power motor and the steering-engine being arranged in hull, and the adjuster is dynamic for controlling The operation of force motor and steering-engine, the power motor are used for the navigation for driving hull, and the steering-engine is used to drive ship The steering operation of body.
- A kind of 7. unmanned target ship with autonomous navigation pattern according to claim 1, it is characterised in that：The navigation master Control system module is logical computer, and the logical computer is by receiving communication link module and GNSS navigation and alignment system The signal of module, power and course changing control mechanism are controlled so that hull carries out flight operations.
- A kind of 8. unmanned target ship with autonomous navigation pattern according to claim 2, it is characterised in that：The identification system System module is detection sensor, and the detection sensor carries out data with navigation master control system module and is connected, and detection sensor is led to Cross the situation of detection hull exterior circumferential and produce detection signal, after navigation master control system module receives detection signal, can control The feature operation that hull processed is avoided and brought to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720285945.1U CN206710888U (en) | 2017-03-22 | 2017-03-22 | A kind of unmanned target ship with autonomous navigation pattern |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720285945.1U CN206710888U (en) | 2017-03-22 | 2017-03-22 | A kind of unmanned target ship with autonomous navigation pattern |
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| CN206710888U true CN206710888U (en) | 2017-12-05 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427416A (en) * | 2018-04-04 | 2018-08-21 | 上海华测导航技术股份有限公司 | A kind of unmanned boat differential automatic steering control system and control method |
| CN108549396A (en) * | 2018-04-17 | 2018-09-18 | 福州大学 | A kind of Dual-motors Driving unmanned boat control system based on STM32F429 |
| CN109839932A (en) * | 2019-02-20 | 2019-06-04 | 南通大学 | Automatic navigation method based on Inertial Measurement Unit and GPS |
| CN111280105A (en) * | 2018-12-10 | 2020-06-16 | 天津市宏宇天翔航天航空科技有限公司 | Automatic feeding system of unmanned ship |
| CN111338358A (en) * | 2020-04-14 | 2020-06-26 | 山东省工业设计研究院有限公司 | Unmanned yacht |
| CN117250961A (en) * | 2023-10-24 | 2023-12-19 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
-
2017
- 2017-03-22 CN CN201720285945.1U patent/CN206710888U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427416A (en) * | 2018-04-04 | 2018-08-21 | 上海华测导航技术股份有限公司 | A kind of unmanned boat differential automatic steering control system and control method |
| CN108427416B (en) * | 2018-04-04 | 2021-09-07 | 上海华测导航技术股份有限公司 | Unmanned ship differential automatic steering control system and control method |
| CN108549396A (en) * | 2018-04-17 | 2018-09-18 | 福州大学 | A kind of Dual-motors Driving unmanned boat control system based on STM32F429 |
| CN111280105A (en) * | 2018-12-10 | 2020-06-16 | 天津市宏宇天翔航天航空科技有限公司 | Automatic feeding system of unmanned ship |
| CN109839932A (en) * | 2019-02-20 | 2019-06-04 | 南通大学 | Automatic navigation method based on Inertial Measurement Unit and GPS |
| CN111338358A (en) * | 2020-04-14 | 2020-06-26 | 山东省工业设计研究院有限公司 | Unmanned yacht |
| CN117250961A (en) * | 2023-10-24 | 2023-12-19 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
| CN117250961B (en) * | 2023-10-24 | 2024-05-17 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200102 Address after: Room 1307, building 3, Haijing Times Square, Donggang street, Putuo District, Zhoushan City, Zhejiang Province Patentee after: Zhejiang azimuthal Intelligent Control Technology Co., Ltd Address before: No. 55, No. 55, semi - pagoda village, Beijing, Beijing Patentee before: Beijing azimuth Intelligent System Technology Co Ltd |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171205 Termination date: 20210322 |