Aperiodic communication remote observer of intelligent ship

Abstract

The embodiment of the invention discloses an aperiodic communication remote observer of an intelligent ship. The aperiodic communication remote observer comprises a ship end event triggering module, aship end position information prediction module, a control end position information prediction module, a control end event triggering module, a position observation module, a total disturbance observation module and a speed observation module, wherein the ship end event triggering module is used for outputting position information obtained after a conduction task is executed at the previous triggering moment or actual position information of a ship at the current moment based on a preset ship end event triggering mechanism; and the ship end position information prediction module is used for outputting the obtained position prediction information and the like. According to the invention, the communication efficiency between the sensor and the observer can be improved, the reliability of ship observation is improved, the sampling calculation burden and the communication cost can be reduced, the dependence on ship motion parameter information is reduced, and the observation is easy to realize.

Description

technical field [0001] The invention relates to the technical field of ship intelligent motion control, in particular to an aperiodic communication remote observer of an intelligent ship. Background technique [0002] The 21st century is called "the century of the ocean". The ocean has become a key research object because of its rich biological and natural resources. Human beings often use autonomous intelligent ships to achieve the purpose of exploring, understanding, and utilizing the ocean. Autonomously controlled smart ships are mainly used in the military field, such as assisting in the completion of tactical tasks such as intelligence collection, surveillance and reconnaissance, security patrols, mine clearance and anti-submarine, and also have a wide range of applications in the civilian field, such as water body detection, maritime search and rescue, and seabed salvage. [0003] A variety of stable observers have been proposed for existing intelligent ship-based cont...

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Problems solved by technology

However, when faced with dynamic ships whose position information is constantly changing, the use of this method is limited

[0007] Third, the existing disturbance estimation method based on the extended state observer requires both the position and velocity information of the ship. However, the uncertainty of wind waves, ocean currents, and model parameters limits the observation of ship velocity information, and the acquisition of velocity information is excessive. Depending on the reliability of the sensor, when the speed sensor is disturbed or fails, the acquisition of speed information will be interrupted immediately

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