基于速变视线导航法的无人船航行轨迹自适应跟踪控制方法

Adaptive tracking control method for unmanned ship navigation trajectory based on rapidly changing line of sight navigation method

摘要:

由于无人船在航行过程会受到来自风浪的干扰,对无人船的航行状态产生影响,导致难以根据无人船的实时状态和环境变化,自动调整控制指令,实现自适应控制。因此,为了保证无人船能够按照既定规划路线航行,提高无人船的航行安全,利用速变视线导航法优化设计无人船航行轨迹自适应跟踪控制方法。根据无人船的航行目标,规划无人船航行轨迹,将其作为无人船的控制目标轨迹。利用无人船中内置的传感器,获取无人船初始位姿数据,通过航行位置的预测与调整,得出无人船实时航行轨迹位置的自适应跟踪结果。基于无人船的控制目标轨迹,考虑环境干扰,在速变视线导航法支持下,根据无人船的速度和环境条件动态调整视线角度,生成并调整无人船航行轨迹控制指令,通过控制指令的执行,实现无人船航行轨迹的自适应控制。通过性能测试实验得出结论:与两种对比方法相比,优化设计方法的跟踪误差明显降低,控制误差减小4.7km,且在抗干扰性能方面具有明显优势。

Abstract:

Due to the interference of wind and waves during the navigation of unmanned ships, their navigation status is affected, making it difficult to automatically adjust control instructions and achieve adaptive control based on the real-time status and environmental changes of unmanned ships. Therefore, in order to ensure that unmanned ships can navigate according to the established planned route and improve the navigation safety of unmanned ships, the adaptive tracking control method for unmanned ship navigation trajectory is optimized and designed using the speed changing line of sight navigation method. Based on the navigation objectives of the unmanned ship, plan the navigation trajectory of the unmanned ship and use it as the control target trajectory of the unmanned ship. By utilizing the built-in sensors in the unmanned vessel, the initial pose data of the unmanned vessel is obtained. Through the prediction and adjustment of the navigation position, the adaptive tracking result of the real-time navigation trajectory position of the unmanned vessel is obtained. Based on the control target trajectory of unmanned ships, considering environmental interference, with the support of the variable line of sight navigation method, the line of sight angle is dynamically adjusted according to the speed and environmental conditions of the unmanned ship, and the control instructions for the navigation trajectory of the unmanned ship are generated and adjusted. Through the execution of the control instructions, adaptive control of the navigation trajectory of the unmanned ship is achieved. The conclusion drawn from performance testing experiments is that compared with the two comparison methods, the optimized design method significantly reduces tracking error and control error by 4.7km, and has obvious advantages in anti-interference performance.