Method for implementing straight-line trajectory tracking of unmanned inspection cruiser under ocean current influence

An implementation method and track tracking technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control and other directions, which can solve problems such as deviation of simulation results and achieve good control effects.

Inactive Publication Date: 2018-11-13
QINGDAO HUANGHAI UNIV
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Problems solved by technology

In the actual simulation of most projects, a constant value disturbance is usually used to simulate the influence of ocean currents on ship motion, resulting in a large deviation between the simulation results and the actual

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  • Method for implementing straight-line trajectory tracking of unmanned inspection cruiser under ocean current influence
  • Method for implementing straight-line trajectory tracking of unmanned inspection cruiser under ocean current influence
  • Method for implementing straight-line trajectory tracking of unmanned inspection cruiser under ocean current influence

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Embodiment Construction

[0057] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0058] Ⅰ. Establish ocean current environment model:

[0059] The working environment of the unmanned inspection ship in the marine aquaculture farm is the surface of the sea. Affected by the tide, sea breeze, and seawater density changes in different locations near the coast, the horizontal and vertical surface movement of the ship will be directly disturbed. In order to analyze the impact of ocean currents on the navigation of unmanned ships, a discrete grid space in a two-dimensional Cartesian coordinate system (x, y) is established. △x and △y are the sizes of the grids in the x and y directions, respectively. A point q is defined as formula (1)

[0060] q=q(i,j), 0≦i

[0061] Among them, m and n are the maximum number of grids in the x and y axis directions respectively;

[0062] Such as figure 1 , The ...

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Abstract

The invention discloses a method for implementing straight-line trajectory tracking of an unmanned inspection cruiser under ocean current influence, and particularly relates to the technical field ofmariculture monitoring. According to the method for implementing the straight-line trajectory tracking of the unmanned inspection cruiser under ocean current influence, an LOS (line of sight) navigation algorithm and PID (proportion integration differentiation) control are combined for meeting factory and ecological development demands of mariculture under the ocean current influence, and the problem about the straight-line trajectory tracking of the unmanned inspection cruiser is solved. The LOS navigation algorithm is applied to course control of the unmanned inspection cruiser and finishestrajectory tracking with a PID control algorithm, so that the unmanned inspection cruiser sails to a collection point to finish water quality data collection, simulation study is performed on the method with a MATLAB, and a simulation result indicates that the method has a good control effect.

Description

Technical field [0001] The invention relates to the technical field of marine aquaculture monitoring, in particular to a method for realizing linear track tracking of an unmanned inspection vessel under the influence of ocean currents. Background technique [0002] With the gradual improvement of living standards, marine aquaculture is facing a huge development market, and the industry will usher in new development opportunities. The mariculture production mode follows the development of intelligent technology, and is gradually transitioning from the traditional extensive type to the modern intensive. Marine aquaculture has high requirements for the water environment. Water quality monitoring is an important technical link in factory and ecologically healthy aquaculture. It is gradually developing from manual sampling and laboratory analysis to online real-time monitoring. In recent years, my country’s unmanned boat technology has developed rapidly. The unmanned boat is used as ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 陈玉杰
Owner QINGDAO HUANGHAI UNIV
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