RU2751725C1 - Method for full-scale testing of unmanned vessels - Google Patents

Abstract

FIELD: shipbuilding.SUBSTANCE: invention relates to shipbuilding, namely to methods for full-scale testing of unmanned and autonomous vessels. The method is intended for independent determination of the tactical and technical characteristics of the test vessels during their movement and execution of specified maneuvers. They set the ship’s course of movement and compare it with the real trajectory of movement, determined by the current location of the object. The current location of the vessel is determined using a complex of measuring equipment, which includes a robotic total station located on the shore, working in conjunction with a reflective prism installed on the vessel with the possibility of orientation in the local and/or relative coordinate system at one point of the state geodetic network with known geographical coordinates and altitude, as well as in a given direction of the cardinal direction, subsequent recording of data on the current location of the vessel and their transmission to a computer for visualization, processing and storage.EFFECT: accuracy of the test results is increased.2 cl, 2 dwg

Description

The invention relates to the field of shipbuilding, and in particular to methods and methods of testing unmanned, autonomous surface ships or robotic objects. The method is intended for the independent determination of the tactical and technical characteristics of the test vessels during their movement and performing specified maneuvers.

Currently, the Russian Federation for testing surface vessels uses the methods described in the Guidelines for determining the maneuverability of ships, ND No. 2-030101-007 - Russian Maritime Register of Shipping. - 2005, at the international level, the tests are regulated by the Resolution of the Maritime Safety Committee of the International Maritime Organization MSC. 137 (76) "Standards of the maneuverable qualities of ships." Tests of ships are carried out by the crew and are carried out by giving commands by the master or another person conducting the tests. In this case, the essence of all commands is reduced to the control of the main engines, propellers and rudder (thrusters).

For unmanned or autonomous vessels, vessel traffic control is performed using hardware and software hardware, the algorithms of which are very complex and may include various methods of adaptive optimization, differential control or neural network control technologies. Thus, the control of the movement of unmanned or autonomous vessels differs significantly from the traditional control of the vessel by the crew, and the known methods are not acceptable for conducting sea trials and maneuvering tests of unmanned or autonomous vessels.

A known method for monitoring the seaworthiness of a ship and a device for its implementation, described in patent RU No. 2467914, publ. 11/27/2012. The method is based on measuring the rolling period, forward and stern draft, wave period, heading angle and speed of the vessel on irregular waves, determining the metacentric height and measuring the angular displacement of the vessel relative to the longitudinal, transverse and vertical central axes, measuring the true wave height and heading angles of arrival waves relative to the center plane of the vessel and determination of the speed and heading angle of the current and the value of the loss of speed of the vessel from wind and waves. In addition, high-resolution satellite systems such as ASTER or SRTM of the given navigation area are used, according to which the environment is rendered using programs for modeling the water surface, atmospheric and astronomical phenomena, the topology of the ship's hull is restored by building a digital model taking into account wave and wind effects.

The disadvantage of the known analogue is the complexity of its implementation, associated with a large number of measuring sensors that must be installed on the ship, calibrated, adjusted, etc. In addition, to process the incoming data, it is necessary to use several software systems that are heterogeneous in their functionality.

Among the known analogs, the closest in technical essence and purpose is the device described in patent RU No. 144079, publ. 08/10/2014 ("Measuring complex for determining the trajectory of the vessel at a given rudder shift angle"). Full-scale tests of the vessel, carried out using the specified complex, are based on setting the course of movement of the vessel and comparing it with the real trajectory of its movement along a given angle of the rudder shift. The equipment implementing the method includes an integrated ship orientation and navigation system containing an inertial measuring module, multi-antenna receiving equipment for satellite navigation systems, an antenna module, a control computer and associated recording equipment. During the tests, the antenna module receives signals from navigation satellites, then transmits them to the multi-antenna receiving equipment of satellite navigation systems, where these signals are processed and converted into data (ship speed, latitude, longitude, as well as coordinates in the Cartesian system, altitude in the geographic coordinate system , the angle of the ship's course). The inertial measuring module registers the values of the roll angle and the trim angle, then supplements them with the data received from the multi-antenna receiving equipment of satellite navigation systems, and transmits them to the recording equipment. The recording equipment records the received data supplemented by the readings of the rudder angle sensor. Measurements and data recording are carried out in real time. The operation of the inertial measuring module is controlled by a control computer.

The disadvantage of this device is the low accuracy of determining the location of the vessel and, accordingly, the trajectory of its movement during field tests, provided by satellite navigation systems, the accuracy of which for a dynamically moving object is more than 1 meter. This, in turn, negatively affects the reliability of determining the tactical and technical characteristics of the test object.

The technical result from the use of the proposed invention is to increase the reliability of determining the tactical and technical characteristics of the test object (unmanned or autonomous surface ship) by increasing the accuracy of measuring its current location and, accordingly, the trajectory of movement during maneuvering and sea trials.

To achieve this result, the following set of essential features is used: in the method of carrying out full-scale tests, in which the course of movement of the vessel is set and compared with the real trajectory of movement, determined by the current location of the object using a complex of measuring equipment, which includes a robotic tacheometer located on the shore , working in tandem with a reflective prism installed on a ship with the ability to orientate in the local (relative) coordinate system at one point of the state geodetic network with known geographic coordinates and altitude, as well as in a given direction (cardinal points), the subsequent recording of data on the current position vessels and their transfer to a computer for visualization, processing and storage.

The task of automated orientation of a robotic total station in an orthogonal coordinate system (x, y, z) is solved with the involvement of an operator who pre-calibrates and installs the device on the shore at a selected point, after which it adjusts coordinate measurements, determining them at the point of the state geodetic network or the local geodetic network and the direction of the cardinal point, and then switches the tacheometer to the mode of tracking the reflective prism mounted on the vertical support of the vessel at a given height. To track the prism with a robotic total station, the operator turns on Target Lock, which allows the instrument to automatically find and lock the prism. Recording of data on the position of the ship's hull and their transfer to a personal computer for subsequent processing is carried out by a tacheometer during the entire period of capturing the movement of the reflective prism.

The essence of the proposed method lies in the more accurate, in comparison with the prototype, the determination of the maneuverable and running characteristics of an unmanned vessel by determining the real trajectory of the vessel in the local coordinate system and comparing it with the given one. The task is solved by using a robotic tacheometer located on the shore and watching a reflective prism installed on an unmanned vessel, the joint work of which ensures the determination of the current location of the vessel. In this case, the processing and storage of an array of information in an automatic mode is carried out by a computer, forming an exact trajectory of the vessel with a discreteness provided for by the technical characteristics of a robotic total station. In this case, the data can be converted by a computer from a local to a geographic coordinate system.

Comparison of the proposed method and the prototype showed that the task posed - a more accurate determination of the maneuverable and running characteristics of an unmanned or autonomous surface vessel during field tests by increasing the accuracy of determining its current location using a robotic total station and, accordingly, the trajectory of movement during maneuvering and sea trials - is solved as a result a new set of features, which proves the compliance of the proposed invention with the "novelty" criterion of patentability.

At the same time, an information search in the field of shipbuilding revealed a tracking system for a hydrographic vessel according to patent JP 2010030340 A, IPC Y02A90 / 32, publ. 02/12/2010, containing the following distinctive features of the proposed method: the method is carried out using "a reflective prism installed on the ship, and a tacheometer with automatic tracking, installed on the shore." However, unlike the claimed invention, the Japanese patent device is additionally equipped with a GPS positioning device with time synchronization. In the analogue, the planned position of the ship's hull is determined from GPS positioning data, and the altitude position is specified using a robotic total station. The need to use two measuring devices to obtain sufficient accuracy is the main difference and at the same time a disadvantage of the known technical device; moreover, the device does not provide measurement independence due to the presence of a GPS receiver installed on the ship. In the proposed method, accuracy is achieved not using GPS, but by installing the tacheometer at a point with known geographic coordinates and the possibility of orientation in the local (relative) coordinate system at one point of the state geodetic network with known geographic coordinates and height, as well as in a given direction ( cardinal points).

The foregoing allows us to conclude that the method meets the criterion "inventive step".

The essence of this method is illustrated by graphic materials, where:

in fig. 1 shows a diagram for determining the location of unmanned and autonomous vessels during field tests,

in fig. 2 - the trajectory of the vessel at the pier in the water area of the river. Neva, St. Petersburg.

The diagram (Fig. 1) indicates: point of geodetic network 1, water area 2, robotic total station 3, unmanned or autonomous surface vessel 4, reflective prism 5, trajectory of the vessel's route 6, XY is the local coordinate system (SC), automatically created by the total station by geodetic point 2 and a given direction (cardinal directions).

Figure 2 shows: point of geodetic network 1, water area 2, robotic total station 3, trajectory of the vessel's route 4.

The proposed method includes the following sequence of actions:

At a given point, the operator installs a robotic total station 3 and, taking into account the absolute geographic coordinates of the point of the state geodetic network 1, performs the initial settings of the device 3, its verification and coordinate measurements. The reflective prism 5 is fixed on a vertical support installed on the deck of the test vessel 4 at a given height relative to the water level, which is taken into account when setting up the device 3. To track the reflective prism 5 using a robotic total station 3, the operator turns on the "Target lock" function, which allows performing automatic search and capture of a prism 5. At the moment of installation (capture of a prism), the recording of data on the position of the ship's hull and their transmission to a computer for subsequent processing begins.

In the proposed method, the robotic total station transmits data on the movement of the vessel no more than once every 0.15 seconds in the specified units of measurement and with the required accuracy. The following calculation formula is used to determine the heading of the vessel:

where k is the direction of movement, i is the ordinal number of the measurement.

determination of coordinates when the target is moving

X, Y - coordinates of the installation of the robotic total station

х, у - coordinates of an unmanned (autonomous) vessel.

An example of the implementation of the method.

An unmanned or autonomous vessel 4 with a reflective prism 5 installed on a vertical support performs a maneuver in close proximity to the berth, on which a robotic total station 3 is installed with a personal computer (computer) connected to it. The operator makes the initial settings of the total station 3, verification and coordinate measurements, then turns on the "Target lock" function, starts recording and transferring data about the position of the ship's hull to a personal computer (computer) for subsequent processing. The results of testing the invention at the pier in the water area of the river. The Neva of St. Petersburg are presented in Fig. 2 and in table. 1. Measurements were carried out using a Leica TS16 I R1000, set at a frequency of 1 time per second in the UTM map projection system (by X, Y values), then the difference between the values of the variables was calculated. Changes in the position of the ship's hull in height (dZ) were recorded using a robotic total station and recalculated into the difference in heights.

Table 1 - An example of data obtained from a robotic total station.

Point No. Time, sec X, UTM Y, UTM dX, m dY, m dZ, m one one 3395222,063 8365048,469 0 0 0 2 2 3395226,563 8365048,469 -4.5 0 0.1 3 3 3,395,231,063 8365048,469 -4.5 0 0 4 4 3395235,563 8365048,469 -4.5 0 -0.1 five five 3395 240,063 8365048,469 -4.5 0 0 6 6 3395244,563 8365049,969 -4.5 -1.5 0.1 7 7 3395249,063 8365049,969 -4.5 0 0 eight eight 3395253,563 8365049,969 -4.5 0 -0.1 nine nine 3395258,063 8365051,469 -4.5 -1.5 0 10 10 3395262,563 8365051,469 -4.5 0 0.1 eleven eleven 3,395,267,063 8365051,469 -4.5 0 0 12 12 3395271,563 8365051,469 -4.5 0 -0.1 13 13 3,395,276,063 8365052,969 -4.5 -1.5 0 fourteen fourteen 3395 280,563 8365052,969 -4.5 0 0.1 fifteen fifteen 3395285,063 8365054,469 -4.5 -1.5 0 sixteen sixteen 3395289,563 8365054,469 -4.5 0 -0.1 17 17 3395294,063 8365055,969 -4.5 -1.5 0 18 18 3395298,563 8365057,469 -4.5 -1.5 0.1 nineteen nineteen 3395303,063 8365058,969 -4.5 -1.5 0 twenty twenty 3395307,563 8365060,469 -4.5 -1.5 -0.1 21 21 3395312,063 8365061,969 -4.5 -1.5 0 22 22 3395316,563 8365061,969 -4.5 0 0.1 23 23 3395321,063 8365061,969 -4.5 0 0 24 24 3395325,563 8365061,969 -4.5 0 -0.1 25 25 3395 330,063 8365061,969 -4.5 0 0 26 26 3395334,563 8365060,469 -4.5 1.5 0.1 27 27 3395339,063 8365060,469 -4.5 0 0 28 28 3395343.563 8365058,969 -4.5 1.5 -0.1 29 29 3395348,063 8365058,969 -4.5 0 0 thirty thirty 3395352,563 8365058,969 -4.5 0 0.1 31 31 3395357,063 8365057,469 -4.5 1.5 0 32 32 3395361,563 8365055,969 -4.5 1.5 -0.1 33 33 3,395,366,063 8365054,469 -4.5 1.5 0 34 34 3,395,370,563 8365052,969 -4.5 1.5 0.1 35 35 3395375,063 8365052,969 -4.5 0 0 36 36 3395379,563 8365052,969 -4.5 0 -0.1 37 37 3395384,063 8365051,469 -4.5 1.5 0 38 38 3395388,563 8365049,969 -4.5 1.5 0.1 39 39 3395393,063 8365049,969 -4.5 0 0 40 40 3395397,563 8365048,469 -4.5 1.5 -0.1 41 41 3395402,063 8365046,969 -4.5 1.5 0 42 42 3395406,563 8365045,469 -4.5 1.5 0.1 43 43 3395411,063 8365043,969 -4.5 1.5 0 44 44 3395415,563 8365042,469 -4.5 1.5 -0.1 45 45 3,395 420,063 8365040,969 -4.5 1.5 0 46 46 3395424,563 8365039,469 -4.5 1.5 0.1 47 47 3,395,429,063 8365037,969 -4.5 1.5 0 48 48 3395 433,563 8365036,469 -4.5 1.5 -0.1

Compared with the prototype, the proposed method allows you to more accurately determine the position of the vessel at a given point in time and thus obtain more reliable tactical and technical parameters of the test vessel. In addition, the implementation of the method does not require the installation of any additional measuring equipment on an unmanned or autonomous vessel. In addition, the accuracy of measuring coordinates when a vessel moves along inland waterways is 1.0 ... 2.5 m. (In accordance with the Radio Navigation Plan of the Russian Federation, approved by order of the Ministry of Industry and Trade of Russia dated July 28, 2015 N 2123.) 1 to 3 mm, depending on the shooting speed.

The proposed invention was created by specialists of the Scientific Center of the Federal State Budgetary Educational Institution of Higher Education “State University of the Sea and River Fleet named after Admiral S.O. Makarov "as part of research work. Experimental studies and calculations were carried out, which showed the possibility of using the proposed method for carrying out field tests that give an objective assessment.

The foregoing allows us to conclude that the invention meets the criterion of "industrial applicability".

Claims (2)

1. A method of full-scale testing of unmanned vessels, in which the course of movement of the vessel is set and compared with the real trajectory of movement, determined by the current location of the object, characterized in that the determination of the current location of the vessel is carried out using a set of measuring equipment, which includes located on the shore a robotic total station paired with a reflective prism installed on a ship with the possibility of orientation in the local and / or relative coordinate system at one point of the state geodetic network with known geographic coordinates and altitude, as well as in a given direction of the cardinal point, and the subsequent recording of data on the current position of the vessel and their transfer to a computer for visualization, processing and storage. 2. The method according to claim 1, characterized in that a preliminary calibration and installation of the device on the shore, at a selected point, is performed, after which coordinate measurements are adjusted, determining them by the point of the state geodetic network or local geodetic network and directions of the cardinal points, and then transfer the tacheometer to the mode of tracking the reflective prism by activating the "Target lock" function.

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