大连海事大学学报 >
2019 , Vol. 45 >Issue 4: 1 - 8
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2019.04.001
一种小型无人船导航-制导-控制系统设计与验证
收稿日期: 2019-05-30
修回日期: 2019-06-29
网络出版日期: 2019-06-30
基金资助
国家自然科学基金资助项目(51379002).
Design and verification of navigation-guidance - control system for a small unmanned surface vehicle
Received date: 2019-05-30
Revised date: 2019-06-29
Online published: 2019-06-30
王宁 , 吴亚 , 杨毅 , 高云程 . 一种小型无人船导航-制导-控制系统设计与验证[J]. 大连海事大学学报, 2019 , 45(4) : 1 -8 . DOI: 10.16411/j.cnki.issn1006-7736.2019.04.001
An efficient navigation-guidance-control system was designed for a small unmanned ship with the ability of autonomous mission execution. Kalman filter was used for sensor information fusion to realize the state estimation of the unmanned ship.A LOS guidance method based on time-varying forward distance was designed to realize the straight track of unmanned ship.By designing the anti-saturation integral PID controller,the UAV can converge to the desired course quickly and accurately.The feasibility of the designed system was verified by simulation.The reliability and stability of the system were verified by experiments on the small unmanned ship "CIMV I" .
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