Unmanned ship navigation control method and system, storage medium and computer equipment

Abstract

The invention discloses an unmanned ship navigation control method and system, a storage medium and computer equipment. According to the system, actual longitude and latitude information acquired by an attitude sensor and set longitude and latitude serve as input and are transmitted to a navigation path controller, and an LOS angle is obtained through an LOS guidance algorithm and serves as a setcourse angle to be transmitted to a course controller based on trajectory linearization. The course controller is divided into a slow loop controller and a fast loop controller. The set course angle and the actual course angle acquired by a sensor magnetic compass serve as input and are transmitted into the slow loop controller, and due to the cooperation of a first pseudo-inverse system module and a first stable regulator module of the slow loop controller, output parameters of the slow loop controller are obtained and transmitted into the fast loop controller. The actual rudder angle obtained by a rudder angle detection device serves as input and is transmitted into the fast loop controller, and by means of a second pseudo-inverse system module and a second stable regulator module of thefast loop controller, fast loop control input is obtained and acts on a stern machine propelling device of an unmanned ship so that the purpose of indirectly achieving navigation path control can beachieved by controlling the course.

Description

technical field [0001] The present invention relates to the field of navigation control of unmanned ships, in particular to a trajectory linearization-based method, system, storage medium and computer equipment for navigation control of unmanned ships. Background technique [0002] An unmanned ship is a surface platform that has autonomous planning, autonomous navigation capabilities, and can autonomously complete tasks such as environmental perception and target detection. Compared with manned ships, unmanned ships have the advantages of flexible maneuverability, wide range of activities, and zero casualties of combat personnel. Like other unmanned platforms, unmanned ships were initially used to perform tasks that were particularly dangerous and unsuitable for manned ships, such as minesweeping and serving as target ships. With the rapid development of today's high-tech, the mission functions of unmanned ships have gradually expanded to maritime reconnaissance and surveil...

AI Technical Summary

Problems solved by technology

However, although the current control methods applied to unmanned ships have high reliability, the data processing content is huge, and the design and testing work is very heavy.

In addition, due to the uncertainty of internal parameters and a large number of external disturbances during the navigation of unmanned ships, the current control methods do not have sufficient control accuracy and robustness.

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