船舶与海洋工程

一种小型无人船导航-制导-控制系统设计与验证

  • 王宁 ,
  • 吴亚 ,
  • 杨毅 ,
  • 高云程
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  • (大连海事大学 a.船舶电气工程学院; b.轮机工程学院, 辽宁 大连 116026) 
王宁(1983 — ),男,博士,教授,博士生导师,E-mail:n.wang.dmu.cn@gmail.com.

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

  • WANG Ning ,
  • WU Ya ,
  • YANG Yi ,
  • GAO Yun-cheng
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  • (a. Marine Electrical Engineering College; b. Marine Engineering College, Dalian Maritime University, Dalian 116026,China)

Received date: 2019-05-30

  Revised date: 2019-06-29

  Online published: 2019-06-30

摘要

针对具有自主执行任务能力的小型无人船,设计一种有效的导航-制导-控制系统.采用卡尔曼滤波进行传感器信息融合,实现无人船的状态估计;设计一种基于时变前向距离的LOS制导方法,实现无人船直线航迹跟踪;通过设计抗饱和积分PID控制器,使得无人船快速、准确地收敛到期望航向.仿真研究验证了所设计系统的可行性,在“智海1号”小型无人船上进行的实验验证了系统的可靠性和稳定性.

本文引用格式

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

Abstract

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" .

参考文献

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