An Aperiodic Communication Remote Observer for Intelligent Ships

Abstract

The embodiment of the present invention discloses an aperiodic communication remote observer of an intelligent ship, which includes: a ship-end event trigger module, a ship-end position information prediction module, a control-end position information prediction module, a control-end event trigger module, and a position observation module , a total disturbance observation module and a speed observation module; wherein, the ship-end event trigger module is used to output the position information or the current moment obtained after performing the conduction task at the last trigger moment based on the preset ship-end event trigger mechanism The actual position information of the ship; the ship end position information prediction module is used to output the obtained position prediction information and the like. The invention can not only improve the communication efficiency between the sensor and the observer, increase the reliability of ship observation, but also reduce the sampling calculation burden and communication cost, reduce the dependence on ship motion parameter information, and facilitate observation.

Description

A non-periodic communication remote observer for intelligent ships technical field The present invention relates to the technical field of ship intelligent motion control, in particular to a kind of non-periodic communication remote control of intelligent ship process observer. Background technique The 21st century is called "the century of the ocean", and the ocean has become the focus because of its rich biological resources and natural resources. The research object, human beings often achieve the purpose of exploring the ocean, understanding the ocean, and using the ocean through autonomous intelligent ships. autonomous The controlled intelligent ships are mainly used in the military field, such as assisting in intelligence collection, surveillance and reconnaissance, security patrols, mine clearance It also has a wide range of applications in the civilian field, such as performing water body detection, maritime search and rescue and seabed salvage. Wait. Ex...

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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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