WO2023226485A1 - 一种无人船自主航行控制系统 - Google Patents

一种无人船自主航行控制系统 Download PDF

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Publication number
WO2023226485A1
WO2023226485A1 PCT/CN2023/077612 CN2023077612W WO2023226485A1 WO 2023226485 A1 WO2023226485 A1 WO 2023226485A1 CN 2023077612 W CN2023077612 W CN 2023077612W WO 2023226485 A1 WO2023226485 A1 WO 2023226485A1
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unmanned ship
navigation
control
unmanned
autonomous navigation
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PCT/CN2023/077612
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English (en)
French (fr)
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管延敏
马国杰
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江苏科技大学
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Publication of WO2023226485A1 publication Critical patent/WO2023226485A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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

Definitions

  • the invention belongs to the technical field of autonomous ship navigation, and is specifically an autonomous ship navigation control system.
  • An unmanned ship is an intelligent surface vehicle that does not rely on human control, has a certain degree of autonomous navigation capabilities, and can realize tasks such as real-time environment perception and real-time data monitoring.
  • Autonomous navigation technology of unmanned ships is a key technology for realizing intelligent and reliable operation of unmanned ships. If unmanned ships can operate stably and reliably according to established routes, a breakthrough must be made in autonomous navigation technology.
  • the unmanned ship can independently plan the route according to mission requirements, and by controlling the speed and course of the unmanned ship during operation, the unmanned ship can follow the planned route.
  • Stable trajectory navigation is the core issue of autonomous driving of unmanned ships.
  • the present invention proposes a The autonomous navigation control system of unmanned ships enables all unmanned ships equipped with this system to have autonomous navigation capabilities, achieve stable and reliable autonomous navigation, and can transmit back navigation information and image information such as navigation attitude, position, and status of unmanned ships in real time.
  • an autonomous navigation control system for unmanned ships including: main control system, co-processing system, power management system, data acquisition system, data storage system and propulsion system;
  • the power management system is used to power other systems
  • the data acquisition system is used to obtain real-time operating information of the unmanned ship;
  • the data storage system is used to save the operation information to be executed by the unmanned ship;
  • the main control system is used to compare the real-time operation information of the unmanned ship with the operation information to be executed, obtain the control strategy for the autonomous navigation of the unmanned ship, and send the control strategy to the co-processing system;
  • the co-processing system is used to send control signals to the propulsion system according to the control strategy
  • the propulsion system is used to control the navigation of the drone according to the received control signal to achieve autonomous navigation.
  • the data collection system includes:
  • Navigation and positioning system used to obtain positioning information of unmanned ships in real time
  • Navigation attitude measurement system used to obtain the navigation attitude information of unmanned ships in real time
  • the digital and image transmission system is used to collect navigation data and image information of unmanned ships during navigation.
  • the navigation data includes the speed, heading, and course of the unmanned ship.
  • the navigation attitude measurement system includes:
  • Dual-axis inclination sensor used to obtain the inclination angle and pitch angle of the unmanned ship relative to the horizontal plane;
  • the gyroscope module is used to obtain acceleration, heading angle, roll, and pitch data of the unmanned ship during navigation.
  • the altitude measurement system includes a barometer module.
  • the navigation and positioning system includes a BDS module.
  • control signal includes a PWM signal used to control the propulsion system.
  • the propulsion system includes: ESC, rudder, brushless ESC, second motor, thruster, brushed ESC, first motor and side thruster;
  • the electric regulator controls the rudder according to the control signal to realize steering control of the unmanned ship;
  • the brushless ESC controls the second motor according to the control signal, and the second motor drives the propeller to realize forward control of the unmanned ship;
  • the brushed ESC controls the first motor according to the control signal, and the first motor drives the side thruster to control the horizontal side movement of the unmanned ship.
  • the present invention has the following advantages:
  • control system of the present invention realizes the autonomous navigation functions of the unmanned ship such as automatic undocking, automatic return, hovering on the water surface, and automatic docking and undocking;
  • control system of the present invention can be extended to unmanned systems such as unmanned vehicles and unmanned underwater vehicles that require autonomous navigation, and has certain universal applicability;
  • the unmanned ship equipped with the control system of the present invention can realize the unmanned autonomous navigation function of the ship (excluding the obstacle avoidance function).
  • the unmanned ship equipped with the control system of the present invention can be used to perform Task.
  • Figure 1 shows the overall framework diagram of the autonomous ship navigation system
  • Figure 2 is a layout diagram of the propulsion system of the present invention.
  • the autonomous navigation control system of the unmanned ship of the present invention consists of a main control system 1, a co-processing system 3, a remote control system 5, a power management system 7, an altitude measurement system 10, a data storage system 12, a navigation and It consists of a positioning system 14, a navigation attitude measurement system 16, a debugging system 18, a digital and image transmission system 22 and a propulsion system 26.
  • the altitude measurement system 10, the navigation and positioning system 14, the navigation attitude measurement system 16 and the digital and image transmission system 22 are all used to collect real-time operating information of the UAV during navigation.
  • the functions of the above system will now be further explained.
  • the height measurement system 10 is used to detect the heave information of the unmanned ship in the area, and feed back the heave information of the unmanned ship to the main control system 1 through the SPI bus.
  • barometer module BMP 280 is included within the altitude measurement system 10 .
  • the navigation and positioning system 14 is used to collect the positioning information of the unmanned ship and send the positioning information of the unmanned ship to the main control system 1 through the serial peripheral interface SPI.
  • the navigation and positioning system 14 includes a BDS module 15, which uploads the collected positioning information of the unmanned ship to the main control system 1 through the serial peripheral interface SPI.
  • the navigation attitude measurement system 16 is used for real-time navigation attitude information of the unmanned ship.
  • the navigation attitude information includes but is not limited to the acceleration, heading angle, roll and pitch data of the unmanned ship when sailing, and the unmanned ship relative to the horizontal plane. tilt angle and pitch angle.
  • the navigation attitude measurement system 16 may be composed of a gyroscope module MPU9250 and a dual-axis inclination sensor LCA326.
  • the gyroscope module MPU9250 is internally integrated with a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer for outputting non-linear Acceleration, heading angle, roll, and pitch data when the ship is sailing.
  • the dual-axis inclination sensor LCA326 is equipped with a dual-channel earth gravity tilt unit. By measuring the static gravity acceleration and converting it into an inclination change, it can measure the inclination and pitch angles output by the dual-axis inclination sensor LCA326 relative to the horizontal plane, that is, the dual-axis inclination sensor LCA326 is used To obtain the inclination angle and pitch angle of the unmanned ship relative to the horizontal plane.
  • the main control system 1 is used to fuse the data obtained by the gyroscope module and the dual-axis inclination sensor LCA326.
  • the main control system 1 can use the dual-axis inclination sensor.
  • the data obtained by LCA326 corrects the data obtained by the gyroscope module to make up for the decrease in accuracy caused by insufficient correction at the system algorithm level.
  • the digital and image transmission system 22 is used to collect navigation data and images of the unmanned ship during its autonomous navigation.
  • the navigation data includes the speed, heading, course, etc. of the unmanned ship.
  • the images are taken from the first perspective of the unmanned ship. screen; and completes communication with the main control system through ad hoc network/4G.
  • the digital and image transmission system 22 may be composed of a 900M digital transmission debugging radio module, a 4G digital transmission radio module and a 4G image transmission machine module; the 900M digital transmission debugging radio module is used for short-distance ad hoc network data transmission, 4G
  • the digital radio module and the 4G image transmission module transmit back navigation data and images respectively through the 4G link.
  • the main control system 1 of the present invention acquires real-time operating information of the unmanned ship, and the acquisition methods include but are not limited to UART, SPI, RS232, and ADC.
  • the main control system 1 obtains the operation information to be executed from the data storage system 12, compares the operation information to be executed with the real-time operation information of the unmanned ship, and obtains the control strategy for the autonomous navigation of the unmanned ship based on the comparison structure. Strategies include turning, forward, or sideways movements in the horizontal plane.
  • the data transmission relationship between the main control system 1 and other systems is:
  • the operation information to be executed is stored in the data storage system 12 in advance; and communicates with digital and image transmission through ad hoc network/4G mode
  • the two-way communication of the system 22 includes: sending commands to collect data and image information during navigation to the digital and image transmission system 22, receiving navigation data and image information from the digital and image transmission system 22; and through self-organizing network, 4G, USB method to communicate with the debugging system.
  • the obtained control strategy for the autonomous navigation of the unmanned ship is sent to the co-processing system 3 through the universal serial data bus UART.
  • the main control system model STM32F407 is used.
  • the co-processing system 3 of the present invention communicates with the main control system 1 through the universal serial data bus UART.
  • the main control system 1 sends the real-time operation information of the unmanned ship to the co-processing system 3.
  • the real-time operation information of the unmanned ship is The purpose of sending to the co-processing system 3 is to be backed up by the co-processing system 3 .
  • the co-processing system 3 controls the propulsion system 26 based on the received information to determine the degree of yaw of the unmanned ship; the farther the unmanned ship yaws, the greater the power of the propulsion system 26.
  • the microcontroller program is written in the co-processing system 3, and the IO port of the microcontroller generates a PWM signal to drive the propulsion system 26, so that the unmanned ship can sail autonomously.
  • the co-processing system 3 can receive control instructions encoded in PPM format from the remote control system 5 through the SBUS bus, and drive the propulsion system 26 based on the control instructions.
  • the co-processing system 3 can receive the navigation attitude information from the navigation attitude measurement system 16 through the integrated circuit bus IIC, with the main purpose of backing up the navigation attitude information.
  • the long-distance remote control system 5 of the present invention is used to send control instructions encoded in PPM format to the co-processing system 3 through the SBUS bus when an unmanned ship fails when performing an autonomous navigation mission, and decodes it into 8 channels in the co-processing system 3
  • This PWM signal can be directly used to drive the propulsion system 26. Therefore, by defining the 8 channels, the unmanned ship is in different modes.
  • the PWM signal of channel 1 is defined to mean that the unmanned ship is in the remote control control state. That is, the unmanned ship is in manual mode.
  • the PWM signal defining channel 2 puts the unmanned ship in hover mode, and so on to channel 8.
  • the remote control system 5 includes a 2.4G module 6, and the 2.4G module 6 sends instructions to the co-processing system 3 through the SBUS bus.
  • the data storage system 12 of the present invention is used to save the navigation data and images transmitted back to the main control system by the digital and image transmission system 22.
  • the navigation data includes the speed, heading, heading, etc. of the unmanned ship.
  • the image is the unmanned ship in the third order. Picture taken from one perspective; specifically, the data storage system 12 receives the data sent from the main control system 1 through the shipboard SDIO interface, saves the data, and stores the operation information to be executed in the data storage system 12 in advance, Called by main control system 1.
  • the SD card module 13 is included in the data storage system 12 .
  • the propulsion system 26 of the present invention mainly includes an electric controller 27, a rudder 28, a brushless electric controller 29, a second motor 30, a thruster 31, a brushed electric controller 32, a first motor 33 and a side thruster.
  • the PWM signal sent by the co-processing system 3 drives the ESC 27, and the ESC 27 controls the rudder 28 to complete the steering control of the unmanned ship;
  • the PWM signal sent by the co-processing system 3 drives the brushless ESC 29, and the brushless ESC 29 controls the second motor 30, and the second motor 30 drives the propeller 31 to complete the forward control of the unmanned ship;
  • the PWM signal sent by the co-processing system 3 drives the brushed ESC 32, and the brushed ESC 32 is Adjustment 32 controls the first motor 33, and the first motor 33 drives the side thruster 34 to complete the horizontal side movement of the unmanned ship (similar to the side parking of a car).
  • the power management system 7 of the present invention is used to supply power to all systems in the control system.
  • the power management system 7 may be composed of a high-performance lithium battery 9 and an ammeter module 8 .
  • the ammeter module 8 steps down the power of the high-performance lithium battery 9 to 11.1V to supply power to each system, and steps it down to 5V to power the main control system and the co-processing system.
  • the debugging system 18 of the present invention is used for docking when experimenters use the ground station to debug the unmanned ship.
  • the debugging system 18 may be composed of a 900M digital transmission debugging radio, a USB debugging interface and a 4G digital transmission debugging radio.
  • the 900M digital transmission debugging radio is used for short-range wireless debugging and communicates with the main control system through the self-organizing network Digimesh method.
  • the USB debugging interface is used for close-range wired debugging, and data is transmitted to the main control system through USB wired methods
  • the 4G digital transmission debugging radio is used for remote wireless debugging, and is used for data transmission with the main control system through the 4G IoT card method. Wireless transmission.
  • the autonomous navigation task to be performed includes: from the current position point A to the next target point B.
  • the information matching this task includes: the navigation attitude information and positioning information of the unmanned ship at point A, and the navigation attitude information and positioning information of the unmanned ship at point B.
  • the control strategy is as follows: Based on the above attitude information and positioning information of point A and point B, obtain the expected heading angle, AB of the unmanned ship from point A to point B For the straight line of sight of two points, the straight line of sight LOS method is used to convert the position tracking problem of the unmanned ship into a heading control problem. Through the PID controller set in the program, the heading angle of the unmanned ship converges to the desired heading angle, thereby Make the unmanned ship continuously sail to point B. After reaching point B, point B changes to point A, and then the new point A is compared with the next point B in the data storage system.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种无人船自主航行控制系统，包括：主控系统（1）、协处理系统（3）、电源管理系统（7）、数据采集系统、数据保存系统（12）和推进系统（26）；电源管理系统（7），用于为其他系统供电；数据采集系统，用于获取无人船的实时运行信息；数据保存系统（12），用于保存无人船待执行的运行信息；主控系统（1），用于将无人船的实时运行信息与待执行的运行信息进行比对，得到无人船自主航行的控制策略，并将该控制策略发送给协处理系统（3）；协处理系统（3），用于依据控制策略向推进系统（26）发送控制信号；推进系统（26），用于根据接收到的控制信号，控制无人船航行，实现自主航行。

Description

一种无人船自主航行控制系统 技术领域
本发明属于船舶自主航行技术领域，具体为一种无人船自主航行控制系统。
背景技术
无人船是一种不依赖于人员控制，具有一定程度的自主航行能力、可实现实时环境感知、实时数据监测等任务的智能水面航行器。近年来，随着海洋产业以及海洋军事的迅速发展，无人船的研究已经逐渐成为当下船舶研究的新的热点方向。无人船自主航行技术是实现无人船智能、可靠运行的关键技术，要想使无人船可以按照既定的航线稳定、可靠地运行，就必须在自主航行技术上有所突破。通过设计合适的自主航行系统和控制算法，使无人船根据任务需求对航线进行自主规划，以及通过在运行过程中对无人船的航速、航向进行控制，使无人船沿着规划好的轨迹稳定航行是无人船自动驾驶的核心问题。
但在无人船执行任务时，往往需要有一名地面站操作人员看着无人船或者对着船端的摄像头实时传回的画面持续控制才能进行，因此目前的无人船不完全具备自主航行能力。
发明内容
发明目的：为解决在无人船执行任务时，往往需要有一名地面站操作人员看着无人船或者对着船端的摄像头实时传回的画面持续控制才能进行的问题，本发明提出了一种无人船自主航行控制系统，使搭载本系统的无人船都具备自主航行能力，实现稳定可靠自主航行，并且能够实时回传无人船航行姿态、位置、状态等航行信息和图像信息。
技术方案：一种无人船自主航行控制系统，包括：主控系统、协处理系统、电源管理系统、数据采集系统、数据保存系统和推进系统；
所述电源管理系统，用于为其他系统供电；
所述数据采集系统，用于获取无人船的实时运行信息；
所述数据保存系统，用于保存无人船待执行的运行信息；
所述主控系统，用于将无人船的实时运行信息与待执行的运行信息进行比对，得到无人船自主航行的控制策略，并将该控制策略发送给协处理系统；
所述协处理系统，用于依据控制策略向推进系统发送控制信号；
所述推进系统，用于根据接收到的控制信号，控制无人机航行，实现自主航行。
进一步的，所述的数据采集系统包括：
高度测量系统，用于实时获取无人船的垂荡信息；
导航与定位系统，用于实时获取无人船的定位信息；
航行姿态测量系统，用于实时获取无人船的航行姿态信息；
数传图传系统，用于采集无人船在航行过程中的航行数据和图像信息。
进一步的，所述的航行数据包括无人船的航速、艏向、航向。
进一步的，所述航行姿态测量系统包括：
双轴倾角传感器，用于获取无人船相对于水平面的倾斜角度和俯仰角度；
陀螺仪模块，用于获取无人船航行时的加速度、航向角、横摇、纵摇数据。
进一步的，所述高度测量系统包括气压计模块。
进一步的，所述导航与定位系统包括BDS模块。
进一步的，所述控制信号包括用于控制推进系统的PWM信号。
进一步的，所述推进系统包括：电调、舵、无刷电调、第二电机、推进器、有刷电调、第一电机和推侧器；
所述电调依据控制信号控制舵，实现对无人船的转向控制；
所述无刷电调依据控制信号控制第二电机，由第二电机带动推进器，实现对无人船的前进控制；
所述有刷电调依据控制信号控制第一电机，由第一电机带动侧推器，实现对无人船的水平面侧移控制。
有益效果：本发明与现有技术相比，具有以下优点：
(1)本发明的控制系统实现了无人船的自动出坞、自动返航、水面悬停、自动靠离泊等自主航行功能；
(2)本发明的控制系统可推广到无人车、无人潜航器等需要自主航行的无人系统当中，具有一定的普适性；
(3)搭载本发明控制系统的无人船，可实现船舶的无人自主航行功能(不包括避障功能)，当面临水面工作环境恶劣时，可使用搭载本发明控制系统的无人船执行任务。
附图说明
图1为无人船自主航行系统总体框架图；
图2为本发明的推进系统布置图。
具体实施方式
现结合附图和实施例进一步阐述本发明的技术方案。
如图1所示，本发明的无人船自主航行控制系统由主控系统1、协处理系统3、远距离遥控系统5、电源管理系统7、高度测量系统10、数据保存系统12、导航与定位系统14、航行姿态测量系统16、调试系统18、数传图传系统22和推进系统26组成。
其中，高度测量系统10、导航与定位系统14、航行姿态测量系统16和数传图传系统22均用于在航行时采集无人机实时的运行信息。现对上述系统的功能做进一步说明。
该高度测量系统10，用于检测所在区域的无人船的垂荡信息，并通过SPI总线将无人船的垂荡信息反馈给主控系统1。在一些实施例中，高度测量系统10内包含气压计模块BMP280。
该导航与定位系统14，用于采集无人船的定位信息，并通过串行外设接口SPI将无人船的定位信息发送给主控系统1。在一些实施例中，导航与定位系统14内包含BDS模块15，该BDS模块15将采集到的无人船的定位信息通过串行外设接口SPI上传给主控系统1。
该航行姿态测量系统16，用于无人船实时的航行姿态信息，该航行姿态信息包括但不限于无人船航行时的加速度、航向角、横摇、纵摇数据以及无人船相对于水平面的倾斜角度和俯仰角度。在一些实施例中，航行姿态测量系统16可由陀螺仪模块MPU9250和双轴倾角传感器LCA326组成，陀螺仪模块MPU9250内部集成有3轴陀螺仪、3轴加速度计和3轴磁力计，用于输出无人船航行时的加速度、航向角、横摇、纵摇数据。双轴倾角传感器LCA326设置有双通道地球引力倾斜单元，通过测量静态重力加速度，转换成倾角变化，从而可测量双轴倾角传感器LCA326输出相对于水平面的倾斜和俯仰角度，即双轴倾角传感器LCA326用于获取无人船相对于水平面的倾斜角度和俯仰角度。主控系统1用于融合陀螺仪模块和双轴倾角传感器LCA326获取的数据，当陀螺仪模块获取的数据与实际无人船的数据误差大于5度时，主控系统1可采用双轴倾角传感器LCA326获取的数据对陀螺仪模块获取的数据进行修正，弥补系统算法层面因为修正不够导致的精度下降。
该数传图传系统22，用于采集无人船在自主航行过程中的航行数据和图像，航行数据包括无人船的航速、艏向、航向等，图像为无人船以第一视角拍摄的画面；并通过自组网/4G方式与主控系统完成通信。在一些实施例中，数传图传系统22可由900M数传调试电台模块、4G数传电台模块和4G图传机模块组成；900M数传调试电台模块用于近距离自组网数据传输，4G数传电台模块和4G图传机模块通过4G链路分别传回航行数据和图像。
本发明的主控系统1，获取无人船实时的运行信息，获取的方式包括但不限于UART、SPI、RS232、ADC。主控系统1从数据保存系统12获取待执行的运行信息，将待执行的运行信息与无人船实时的运行信息进行比对，基于对比结构，得到无人船自主航行的控制策略，该控制策略包括转向、前进或水平面侧移运动。该主控系统1与其他系统的数据传递关系为：
通过RS232方式接收来自航行姿态测量系统16的航行姿态信息；以及通过串行外设接口SPI接收来自导航与定位系统14的定位信息；以及通过SPI总线接收来自高度测量系统10的无人船的垂荡信息，以及通过船载SDIO接口将需存储的数据存储至数据 保存系统12或者从数据保存系统12中获取所需的待执行的运行信息，该待执行的运行信息是事先存储至数据保存系统12中的；以及通过自组网/4G方式与数传图传系统22进行双向通信包括：向数传图传系统22发送采集航行时的数据与图像信息的命令、接收来自数传图传系统22的航行数据和图像信息；以及通过自组网、4G、USB方式与调试系统进行通讯。以及通过通用串行数据总线UART将得到的无人船自主航行的控制策略发送给协处理系统3。本实施例中，采用型号为STM32F407的主控系统。
本发明的协处理系统3通过通用串行数据总线UART与主控系统1进行通信，主控系统1发送无人船实时的运行信息给协处理系统3，此处将无人船实时的运行信息发送给协处理系统3的目的是由协处理系统3进行备份。
协处理系统3根据接收到的无人船偏航程度的判定信息对推进系统26进行控制；无人船偏航越远，推进系统26的功率越大，
根据主控系统1下发的控制策略，协处理系统3中编写好单片机程序，由单片机的IO口产生PWM信号以此来驱动推进系统26，使无人船实现自主航行。同时，协处理系统3可以通过SBUS总线接收来自远距离遥控系统5的PPM格式编码的控制指令，基于该控制指令来驱动推进系统26。同时，协处理系统3可以通过集成电路总线IIC接收来自航行姿态测量系统16的航行姿态信息，主要目的在于对航行姿态信息进行备份。
本发明的远距离遥控系统5用于当无人船在执行自主航行任务出现故障时，通过SBUS总线向协处理系统3发送PPM格式编码的控制指令，通过在协处理系统3中解码为8通道的PWM信号，此PWM信号可直接用于驱动推进系统26，因此通过对8通道进行定义，使无人船处于不同的模式，例如定义通道1的PWM信号为无人船处于遥控器控制状态，即无人船处于手动模式。定义通道2的PWM信号使无人船处于悬停模式，以此类推到通道8。在一些实施例中，远距离遥控系统5内包含有2.4G模块6，该2.4G模块6通过SBUS总线向协处理系统3发送指令。
本发明的数据保存系统12用于保存数传图传系统22回传给主控系统的航行数据和图像，航行数据包括无人船的航速、艏向、航向等，图像为无人船以第一视角拍摄的画面；具体的，数据保存系统12通过船载SDIO接口接收来自主控系统1下发的数据，对该数据进行保存，以及在数据保存系统12中事先存储待执行的运行信息，供主控系统1调用。在一些实施例中，数据保存系统12内包含SD卡模块13。
如图2所示，本发明的推进系统26主要包括电调27、舵28、无刷电调29、第二电机30、推进器31、有刷电调32、第一电机33和推侧器34；协处理系统3发送的PWM信号驱动电调27，电调27控制舵28，完成对无人船的转向控制；协处理系统3发送的PWM信号驱动无刷电调29，无刷电调29控制第二电机30，第二电机30带动推进器31，完成无人船的前进控制；协处理系统3发送的PWM信号驱动有刷电调32，有刷电 调32控制第一电机33，第一电机33带动侧推器34，完成无人船的水平面侧移运动(类似汽车的侧方停车)。本发明的电源管理系统7用于对控制系统内所有的系统进行供电。在一些实施例中，电源管理系统7可由高性能锂电池9和电流计模块8组成。电流计模块8将高性能锂电池9的电能降压到11.1V给各系统供电，降压到5V给主控系统和协处理系统供电。
本发明的调试系统18用于实验人员使用地面站在对无人船进行调试时的对接。在一些实施例中，调试系统18可由900M数传调试电台、USB调试接口和4G数传调试电台组成，900M数传调试电台用于近距离无线调试使用，通过自组网Digimesh方式与主控系统进行数据传输；USB调试接口用于近距离有线调试使用，通过USB有线方式与主控系统进行数据传输；4G数传调试电台用于远程无线调试使用，通过4G物联网卡方式与主控系统进行无线传输。
实施例：
现通过一实施例来说明本发明系统。
假设待执行的自主航行任务，包括：从当前位置点A到下一时刻目标点B。与这个任务相匹配的信息包括：无人船在A点的航行姿态信息和定位信息，以及无人船在B点的航行姿态信息和定位信息。
若无人船要执行从A点到B点的自主航行任务，控制策略如下：根据上述A点和B点的姿态信息和定位信息，得到无人船A点到B点的期望航向角、AB两点的直线视距，采用直线视距LOS法将无人船的位置跟踪问题转化为航向控制问题，通过程序内设置的PID控制器，使无人船的航向角收敛于期望航向角，从而使无人船不断驶向B点，到达B点后B点转变为A点，再将新A点与数据保存系统中的下一个B点进行对比。

Claims (8)

  1. 一种无人船自主航行控制系统，其特征在于：包括：主控系统、协处理系统、电源管理系统、数据采集系统、数据保存系统和推进系统；
    所述电源管理系统，用于为其他系统供电；
    所述数据采集系统，用于获取无人船的实时运行信息；
    所述数据保存系统，用于保存无人船待执行的运行信息；
    所述主控系统，用于将无人船的实时运行信息与待执行的运行信息进行比对，得到无人船自主航行的控制策略，并将该控制策略发送给协处理系统；
    所述协处理系统，用于依据控制策略向推进系统发送控制信号；
    所述推进系统，用于根据接收到的控制信号，控制无人机航行，实现自主航行。
  2. 根据权利要求1所述的一种无人船自主航行控制系统，其特征在于：所述的数据采集系统包括：
    高度测量系统，用于实时获取无人船的垂荡信息；
    导航与定位系统，用于实时获取无人船的定位信息；
    航行姿态测量系统，用于实时获取无人船的航行姿态信息；
    数传图传系统，用于采集无人船在航行过程中的航行数据和图像信息。
  3. 根据权利要求2所述的一种无人船自主航行控制系统，其特征在于：所述的航行数据包括无人船的航速、艏向、航向。
  4. 根据权利要求1所述的一种无人船自主航行控制系统，其特征在于：所述航行姿态测量系统包括：
    双轴倾角传感器，用于获取无人船相对于水平面的倾斜角度和俯仰角度；
    陀螺仪模块，用于获取无人船航行时的加速度、航向角、横摇、纵摇数据。
  5. 根据权利要求1所述的一种无人船自主航行控制系统，其特征在于：所述高度测量系统包括气压计模块。
  6. 根据权利要求1所述的一种无人船自主航行控制系统，其特征在于：所述导航与定位系统包括BDS模块。
  7. 根据权利要求1所述的一种无人船自主航行控制系统，其特征在于：所述控制信号包括用于控制推进系统的PWM信号。
  8. 根据权利要求1所述的一种无人船自主航行控制系统，其特征在于：所述推进系统包括：电调、舵、无刷电调、第二电机、推进器、有刷电调、第一电机和推侧器；
    所述电调依据控制信号控制舵，实现对无人船的转向控制；
    所述无刷电调依据控制信号控制第二电机，由第二电机带动推进器，实现对无人船的前进控制；
    所述有刷电调依据控制信号控制第一电机，由第一电机带动侧推器，实现对无人船 的水平面侧移控制。
PCT/CN2023/077612 2022-05-26 2023-02-22 一种无人船自主航行控制系统 WO2023226485A1 (zh)

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