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CN-119575969-B - Ship navigation planning method for tracking water moving target

CN119575969BCN 119575969 BCN119575969 BCN 119575969BCN-119575969-B

Abstract

The invention discloses a ship tracking navigation planning method for a water moving target, which comprises the following steps of 1, obtaining water surface underwater target information and tracking task information around a controlled ship, 2, calculating a tracking situation according to the water surface underwater target information and the tracking task information, 3, calculating an approach point of guiding an unmanned ship to navigate to an expected tracking point or a tracking keeping target point according to the tracking situation, and 4, controlling the ship to navigate based on the coordinates of the approach point of the expected tracking point or the tracking keeping target point. The ship tracking navigation planning method acquires the water surface target information in real time, dynamically adjusts the navigation path, optimizes the selection of the approach point and the target point, and reduces the navigation time and the energy consumption from any relative position of the tracked target to the expected tracking position.

Inventors

  • Lou Jiankun
  • WANG HONGDONG
  • HUANG JINGTIAN
  • JIN YUAN

Assignees

  • 上海交通大学

Dates

Publication Date
20260512
Application Date
20241126

Claims (7)

  1. 1. The ship navigation planning method for tracking the water moving target is characterized by comprising the following steps of: Step 1, acquiring water surface underwater target information and tracking task information around a controlled ship; Step2, calculating a tracking situation according to the underwater target information and the tracking task information; Step 3, calculating a approaching point of the unmanned ship guided to navigate to an expected tracking point or a target point kept tracked according to the tracking situation; step 4, tracking navigation control of the ship based on the coordinates of the approach point of the expected tracking point or the target point keeping tracking; in step 2, the method further comprises the following steps: Step 21, finding a tracked target in the target situation information according to the tracked target identification lot number, and reading the longitude and latitude, the navigational speed and the heading of the target; according to the tracking distance and the tracking relative azimuth angle in the tracking task information, calculating to obtain an expected tracking point of the target tracking task at the current moment; Planning a route from the current position of the controlled ship to the tracking point of the controlled ship, so that the controlled ship approaches the expected tracking point and is kept near the tracking point, and considering that the target is tracking; When the time changes, the target situation information is updated, the longitude and latitude and the navigational speed heading information of the tracked target are read again, the expected tracking point is recalculated, and the control quantity is updated; step 22, guiding the controlled ship to approach the expected tracking point by a tracking approach method based on tracking situation identification so as not to collide with the path of the tracked target; step 23, calculating tracking situations by taking the fact that the tracking target point is located near the rear of the target ship and the tracking target point is located on two sides of the target ship as two conditions; In step 23, when When the tracking target point is located right behind the target ship, the tracking situation is divided as follows: Tracking situation #0 when The controlled ship is in a normal tracking stage, and continuous tracking navigation is realized by controlling the speed; Tracking situation #1 when And is also provided with The controlled ship is positioned on the non-coming road of the tracked object and has collision risk; tracking situation #2 when And is also provided with The controlled ship is positioned in front of the tracked object, and if the controlled ship is static, the controlled ship has no collision risk for the tracked object; Tracking situation #3 when And (2) and The controlled ship is positioned in a range of 40 degrees right behind the tracked target, and the controlled ship is positioned behind the expected tracking point under the target satellite coordinate system; Tracking situation #4 when And (2) and The controlled ship is positioned in a range of 40 degrees right behind the tracked target, and the controlled ship advances to an expected tracking point; Tracking situation #5, wherein the ship to be controlled is positioned at the rear side of the tracked target in other situations; Wherein, the For the scale of the object to be tracked, For the captain of the ship to be controlled, As the coefficient of the collision distance, A permissible radius for tracking errors; indicating the relative orientation of the currently controlled vessel at the tracked object, The tracking distance is indicated as such, Representing the relative azimuth of the tracking, For the relative position of the vessel being controlled with respect to the object being tracked, To desire the relative position of the tracking point with respect to the tracked object, Is the relative position of the vessel being controlled with respect to the desired tracking point.
  2. 2. The method for planning a ship's navigation on a water moving object according to claim 1, wherein in step 1, the tracking task information includes a specified identification lot number of the tracked object, a tracking distance, a tracking relative azimuth angle and a tracking duration; the tracked target identification lot number is a credential for distinguishing and extracting tracked target information from the fusion situation information by a target tracking algorithm; The tracking distance is the expected distance kept between the ship to be controlled and the tracked target in the tracking process; The tracking relative azimuth angle is the relative angle between the connecting line from the tracked target position to the desired tracking point of the controlled ship in the tracking process and the tracked target course, and the range is ; The tracking time length controls the task time length of the whole tracking task, and when the actual tracking execution time length is longer than the given tracking time length of the task, the tracking task is considered to be ended, and the tracking is stopped.
  3. 3. The method of claim 1, wherein in step 22, the target tracking algorithm first reads the position of the tracked target, the heading and the position of the controlled vessel, calculates the relative position of the controlled vessel with respect to the tracked target The relative position of the tracking point with respect to the tracked object is desired Relative position to the vessel being controlled with respect to the desired tracking point Wherein: ; ; indicating the relative orientation of the currently controlled vessel at the tracked object, The tracking distance is indicated as such, Representing the tracking relative azimuth.
  4. 4. A method of marine vessel's navigation planning for the tracking of a water moving object according to claim 1, characterized in that, in step 23, when The tracking target points are considered to be positioned at two sides of the tracked target, and the tracking situation is divided as follows: Tracking situation #0 when The controlled ship is positioned near the expected tracking point, and is considered to be in a normal tracking stage, and continuous tracking navigation is realized by controlling the speed; Tracking situation #6 when And is also provided with The controlled ship is positioned on the non-coming road of the tracked object and has collision risk; Tracking situation #7 when And is also provided with The controlled ship is positioned in front of the tracking target side and needs to change the side; Tracking situation #8 when And is also provided with The controlled ship is positioned behind the tracking target side and needs to change the side; tracking situation #9 when And is also provided with The controlled ship is positioned behind the expected tracking point, and a port changing side is not needed; Tracking situation #10 when And is also provided with The controlled ship slightly advances the expected tracking point without a side-to-side; tracking situation #11 when In other cases where the vessel being controlled is in front of the desired tracking point, a port side is not required; Wherein, the For the scale of the object to be tracked, For the captain of the ship to be controlled, As the coefficient of the collision distance, In order to track the allowable radius of the error, To consider a preset amount slightly ahead of the desired tracking point, As a coefficient of the offset distance, And judging the variable for the edge change.
  5. 5. The ship navigation planning method for tracking a water moving object according to claim 1, wherein in step 3, a calculation strategy and a calculation method of approach points under each tracking situation are as follows: tracking situation #0, guiding the controlled ship to keep tracking, wherein the target point is an expected tracking point: ; Tracking situation #1, guiding the controlled ship to depart from the forward navigation area of the tracked target as soon as possible and enter tracking situation #2, wherein the set approach point is the side front of the tracked target, and the approach point broadside is selected as the broadside pointed by the current heading of the controlled ship: ; ; tracking situation #2, guiding the ship to be controlled to navigate from the front side to the rear side of the tracked object to enter tracking situation #5, wherein the set approach point is positioned at the rear side of the tracked object and keeps a certain safety distance with the tracked object: ; Tracking situation #3, guiding the controlled ship to chase the expected tracking point from the right rear of the tracked target to the front of the tracked target in a long distance, entering the tracking situation #0, and setting a near point to be positioned at the expected tracking point Is the center of a circle, and the radius is the allowable radius of tracking error Is within a circle of (2): ; Tracking situation #4, guiding the controlled ship to stop or reduce propulsion, keeping the heading consistent with the heading of the tracked target, waiting for the expected tracking point to catch up to the controlled ship, entering tracking situation #0, and setting the approach point to be positioned at the expected tracking point Is the center of a circle, and the radius is the allowable radius of tracking error Is within a circle of (2): ; tracking situation #5, guiding the ship to be controlled to navigate from the side rear direction of the tracked target to the right rear direction of the expected tracking point, entering the tracking situation #3, and setting a near point to be located at the origin of the satellite coordinate system Is the center of a circle, and the radius is 1.2 times of the tracking distance Is a circle of (2): ; Wherein, the Representing the abscissa of the approach point at this time in the tracked object satellite coordinate system, Representing the ordinate of the entry point in the tracked object satellite coordinate system, The sign function is represented by a sign function, For the scale of the object to be tracked, For the captain of the ship to be controlled, In order to be tracked for target heading/heading, In order to control the heading of the ship, As the coefficient of the collision distance, As a factor of the safety distance, the distance between the two devices, Representing the relative heading angle of the vessel being controlled with respect to the target being tracked.
  6. 6. The ship navigation planning method for tracking a water moving object according to claim 4, wherein in step 3, a calculation strategy and a calculation method of approach points under each tracking situation are as follows: tracking situation #0, guiding the controlled ship to keep tracking, wherein the target point is an expected tracking point: ; Tracking situation #6, guiding the controlled ship to depart from the forward navigation area of the tracked target as soon as possible, entering tracking situation #11, wherein the set approach point is the side front of one side of the expected tracking point of the tracked target: ; tracking situation #7, guiding the ship to be controlled to navigate from the front side to the rear side relative to the side of the tracked object different from the expected tracking point, entering tracking situation #8, setting a point of approach to be located at the rear side of the tracked object, and keeping a certain safety distance from the tracked object: ; Tracking situation #8, guiding the ship to be controlled to navigate from the side rear of the tracked object on the side different from the expected tracking point to the right rear of the tracked object, entering tracking situation #9, setting a point of approach to be located right rear of the tracked object, and keeping a certain safety distance from the tracked object: ; Tracking situation #9, guiding the ship to be controlled to navigate to the expected tracking point from the side rear of the same broadside as the expected tracking point relative to the tracked target, entering the tracking situation #0, and setting the approach point to be positioned at the expected tracking point Is the center of a circle, and the radius is the allowable radius of tracking error Is within a circle of (2): ; Tracking situation #10, guiding the controlled ship to stop or reduce propulsion, keeping heading consistent with heading of a tracked target, waiting for an expected tracking point to catch up to the controlled ship, and entering tracking situation #0: ; Tracking situation #11, guiding the ship to be controlled to navigate from the front side to the rear side on the same side as the expected tracking point relative to the expected tracking point, entering tracking situation #9, and setting the approach point to be located at the origin of the satellite coordinate system Is the center of a circle, and the radius is 1.2 times of the tracking distance Is a circle of (2): ; Wherein, the Representing the abscissa of the approach point at this time in the tracked object satellite coordinate system, Representing the ordinate of the entry point in the tracked object satellite coordinate system, The sign function is represented by a sign function, In order to be tracked for target heading/heading, In order to control the heading of the ship, As the coefficient of the collision distance, Is a safe distance coefficient.
  7. 7. A method of marine vessel's tracked navigation planning for a marine vessel according to claim 1, characterised in that in step 4, state variables of the vessel being controlled are defined: ; Representing the speed in the three degree of freedom motion state space of the ship, Represents the movement speed in the horizontal coordinate direction under the geodetic coordinate system, Represents the movement speed in the vertical coordinate direction under the ground coordinate system, Indicating the angular velocity of the ship turning bow, Representing the abscissa of the ship in the geodetic system, Representing the ordinate of the ship in the geodetic system, Represents the heading angle of the ship under the geodetic coordinate system, Represents the three-degree-of-freedom motion state space of the ship, Representing the speed in the ship motion state space; The acceleration is: ; represents the acceleration in the space of the ship motion state, Representing a mass matrix of the vessel, In the form of the coriolis force term, In order to provide a damping force term, In order to restore the force term(s), Is a generalized control force; The propeller model is: ; ; Wherein, the The rotating speed of the propeller is represented, For the thrust of the propeller, For the torque of the propeller, In order to achieve a fluid density, For the diameter of the propeller, The thrust characteristic parameter of the propeller is that, As a characteristic parameter of the torque of the propeller, Indicating the speed of the propeller to be advanced, The speed of the ship is indicated, As the co-current coefficient of the satellite stream, Numbering the propellers; considering the motor model, the control equation of the motor is as follows: ; Wherein, the For the moment of inertia of the rotor, For the armature inductance to be a function of the inductance, Is the internal resistance of the armature, In order to be a damping coefficient, Is the electromagnetic induction coefficient of the magnetic field, As electromagnetic torque coefficient, propeller torque It can be obtained from a model of the propeller, , Indicating propeller Is used for the angular acceleration change rate of (a), Indicating propeller Is used for the angular acceleration of the vehicle, Indicating propeller Obtaining the thrust of each propeller And input voltage Ignoring the effect of the torque generated by the rotation of the propeller on the surface vessel, the generalized control force of the horizontal plane generated by the propeller is as follows: ; representing the horizontal distance of the pitch of the screw from the centre of gravity of the vessel, Represents the x-axis included angle between the propeller and the satellite coordinate system, Represents the included angle between the thrust reversal of the propeller and the horizontal connecting line of the propeller and the gravity center position, In order for the heave force to be applied, In order for the force to be a transverse swinging force, Is a turning bow moment; The relationship between the propulsor thrust and the generalized force is: ; In the form of a generalized force matrix, Representing a propeller thrust vector; Generalized control force: ; In order to control the force in a broad sense, In the form of a quality matrix, Is a coordinate transformation matrix of the geodetic coordinates and the satellite coordinates, As a coefficient of the offset distance, The motion voyage point, i.e. the desired tracking point/approach point at the current moment, As an error term, Is that The first derivative with respect to time is, The second derivative of the motion voyage point with respect to time is tracked for the desired vessel, For the control parameters of the sliding mode method, ; Based on the state variable of the ship, the propeller model, the control equation of the motor, the advance speed of each propeller, the relation between the thrust of the propeller and the generalized force and the generalized control force, the control system for controlling the ship to track and navigate by taking the voltage of the motor of the propeller as input is obtained.

Description

Ship navigation planning method for tracking water moving target Technical Field The invention belongs to the technical field of ships and ocean engineering, and discloses a ship navigation planning method for tracking a water moving target. Background In the field of ships and ocean engineering, when autonomous ship tracking is to cope with attack of a non-cooperative target to a designated sea area, or when unmanned tug is to follow a large ship or when autonomous ship fleet is to be formed and voyage, a target tracking voyage planning method suitable for ships is required, so that a controlled autonomous ship can enter a specific tracking position to a water surface target and perform stable continuous tracking. The design of the target tracking navigation planning method of the ship needs to consider factors such as maneuvering parameters, hull size, ship speed limit and the like of the actual ship. The existing robot and unmanned aerial vehicle tracking planning algorithm can realize stable tracking control of a controlled object to a tracking target under algorithm control. On the one hand, the controlled object of the two algorithms is not an under-actuated system, the operability of the ship brings higher requirements for the collision prevention of the target on water in the process of tracking navigation planning and tracking, and on the other hand, the navigation environment of the two algorithms has less strong interference on the controlled object than the marine environment, and the marine environment makes the navigation control of the autonomous ship and the information perception of the tracked target more difficult. Disclosure of Invention The invention discloses a ship navigation planning method for tracking a water moving object, which comprises the following steps: Step 1, acquiring water surface underwater target information and tracking task information around a controlled ship; Step2, calculating a tracking situation according to the underwater target information and the tracking task information; Step 3, calculating a approaching point of the unmanned ship guided to navigate to an expected tracking point or a target point kept tracked according to the tracking situation; And 4, tracking navigation control of the ship based on the coordinates of the approach point of the expected tracking point or the tracked target point. Further, in step 1, the tracking task information includes a designated identification lot number of the tracked target, a tracking distance, a tracking relative azimuth angle and a tracking duration; the tracked target identification lot number is a credential for distinguishing and extracting tracked target information from the fusion situation information by a target tracking algorithm; The tracking distance is the expected distance kept between the ship to be controlled and the tracked target in the tracking process; The tracking relative azimuth angle is the relative angle between the connecting line from the tracked target position to the desired tracking point of the controlled ship in the tracking process and the heading of the tracked target, and the range is (-180 degrees, +180 degrees ]; The tracking time length controls the task time length of the whole tracking task, and when the actual tracking execution time length is longer than the given tracking time length of the task, the tracking task is considered to be ended, and the tracking is stopped. Further, in step 2, the method further comprises the following steps: Step 21, finding a tracked target in the target situation information according to the tracked target identification lot number, and reading the longitude and latitude, the navigational speed and the heading of the target; according to the tracking distance and the tracking relative azimuth angle in the tracking task information, calculating to obtain an expected tracking point of the target tracking task at the current moment; Planning a route from the current position of the controlled ship to the tracking point of the controlled ship, so that the controlled ship approaches the expected tracking point and is kept near the tracking point, and considering that the target is tracking; When the time changes, the target situation information is updated, the longitude and latitude and the navigational speed heading information of the tracked target are read again, the expected tracking point is recalculated, and the control quantity is updated; step 22, guiding the controlled ship to approach the expected tracking point by a tracking approach method based on tracking situation identification so as not to collide with the path of the tracked target; And step 23, calculating the tracking situation by taking the situation that the tracking target point is positioned near the rear of the target ship and the situation that the tracking target point is positioned at the two sides of the target ship as two conditions. Further, in step 22, the target t