Fixed-point control method, device and electronic equipment for navigation equipment

Abstract

The embodiment of the present application is applicable to the technical field of ship control, and provides a fixed-point control method, device, and electronic equipment for navigation equipment, the method including: acquiring the current first position information of the navigation equipment and the second position information of the desired anchoring point ; According to the first location information and the second location information, identify the navigation area where the navigation equipment is currently located; if the navigation area is a buffer zone, determine the location of the navigation equipment in the buffer zone Course and speed; control the navigation equipment to sail from the buffer zone to the idle zone according to the course and speed; when the navigation equipment sails to the junction of the buffer zone and the idle zone, control the navigation equipment be in an idle state and maintain a current heading, so that the navigational equipment is anchored at the junction. By adopting the above method, the fixed-point control of the navigation equipment can be realized.

Description

technical field [0001] The embodiments of the present application belong to the technical field of ship control, and in particular relate to a fixed-point control method, device and electronic equipment for navigation equipment. Background technique [0002] For the fixed-point control of navigation equipment such as ships, there are usually two ways to realize it. The first one is for ships with dynamic positioning function, which can control the ship to stay near the target point more accurately through the output of vector thrust. The second is for ships with a power switch. After the ship reaches the target point, keep idling or the main engine is turned off, and the thrust will be zero. When the ship continues to deviate from the target point under the combined action of external wind, waves or water currents and the deviation distance exceeds a certain threshold (for example, 100 meters), the host will turn on and control the ship to sail from the current position to ...

AI Technical Summary

Problems solved by technology

However, for most ships, there are generally only two degrees of freedom control input of forward thrust and bow moment, that is, the ship is under-actuated and does not have the ability of dynamic positioning

In addition, even in the dynamic positioning mode, if the heading of the ship is not against the flow, the side flow may increase the force, which will cause additional power output due to the control force distribution of multiple propellers, so that the energy saving of the ship Poor performance, which will have a negative impact on long-term water fixed-point operations

[0004] For the second method above, when the external environment is disturbed, especially when the water flow velocity in the sea surface or the river channel is high, the ship will frequently move between the target point and the downstream position in the direction of the water flow, resulting in frequent power-on and power-off of the host

Since the position of the ship is discontinuous, for ships that require precise fixed-point operations, this method limits the normal operation of some survey operations

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