CN-121990208-A - Positioning compensation method and system based on shipborne laser wireless charging

CN121990208ACN 121990208 ACN121990208 ACN 121990208ACN-121990208-A

Abstract

The invention relates to a positioning compensation method and a positioning compensation system based on shipborne laser wireless charging, which belong to the technical field of ships, and are used for calling an extended Kalman filtering algorithm to fuse ship position information and target unmanned aerial vehicle position information to obtain the relative position between a ship and the target unmanned aerial vehicle, and calling a model prediction control algorithm according to the energy receiving state of the target unmanned aerial vehicle and the relative position to adjust the beam direction of a laser beam when the laser is wirelessly charged so as to take the laser with the adjusted beam direction as the target unmanned aerial vehicle to carry out laser wireless charging, thereby solving the problems of aiming and energy transmission caused by relative movement between a mobile platform (ship) and a dynamic target (unmanned aerial vehicle) and improving the charging efficiency and the system robustness. The method improves the relative positioning precision through methods such as cooperative data acquisition, data fusion and prediction, target compensation control, closed loop feedback optimization and the like, enhances the robustness of the system and improves the charging efficiency.

Inventors

LIU YAN
WANG YONGHAI
HE SHAOHUA
CUI HONGMING
LU YONGSHENG
YUAN YUFEI
Jiao yajie

Assignees

中国船舶集团有限公司第七一三研究所
中船海为高科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251216

Claims (10)

1. The positioning compensation method based on shipborne laser wireless charging is characterized by comprising the following steps of: 1) Invoking an extended Kalman filtering algorithm to fuse the ship position information and the target unmanned aerial vehicle position information to obtain the relative position between the ship and the target unmanned aerial vehicle; 2) And according to the energy receiving state and the relative position of the target unmanned aerial vehicle, a model predictive control algorithm is called, the beam direction of the laser beam is adjusted when the laser is charged wirelessly, and the laser is used as the target unmanned aerial vehicle to charge wirelessly according to the laser with the adjusted beam direction.
2. The positioning compensation method based on shipborne laser wireless charging of claim 1, wherein the relative position is adjusted by residual matching using noise covariance when an extended kalman filter algorithm is invoked.
3. The positioning compensation method based on shipborne laser wireless charging according to claim 1, wherein the target unmanned aerial vehicle energy receiving state comprises a deviation and power of received energy, and wherein the deviation and power data of the received energy are obtained through a light intensity sensor and a power detector on the target unmanned aerial vehicle.
4. The positioning compensation method based on shipborne laser wireless charging according to claim 1, wherein when the unmanned aerial vehicle performs laser wireless charging according to the laser with the adjusted beam direction as a target, the laser with the adjusted beam direction is shaped into a flat-top distribution by using a diffraction optical element.
5. The positioning compensation method based on shipborne laser wireless charging according to claim 1 is characterized in that a ship is matched with a target robot through radio frequency communication, and the ship position information and the target unmanned aerial vehicle position information are obtained based on matching of the matched ship and the target robot.
6. The positioning compensation system based on the shipborne laser wireless charging is characterized by comprising a controller, wherein the controller is used for executing the following method: 1) Invoking an extended Kalman filtering algorithm to fuse the ship position information and the target unmanned aerial vehicle position information to obtain the relative position between the ship and the target unmanned aerial vehicle; 2) And according to the energy receiving state and the relative position of the target unmanned aerial vehicle, a model predictive control algorithm is called, the beam direction of the laser beam is adjusted when the laser is charged wirelessly, and the laser is used as the target unmanned aerial vehicle to charge wirelessly according to the laser with the adjusted beam direction.
7. The shipboard laser wireless charging based location compensation system of claim 6, wherein the relative position is adjusted by residual matching using noise covariance when an extended kalman filter algorithm is invoked.
8. The shipborne laser wireless charging based positioning compensation system of claim 6, wherein the target unmanned aerial vehicle energy receiving state comprises a deviation and power of the received energy, wherein the deviation and power data of the received energy are obtained through a light intensity sensor and a power detector on the target unmanned aerial vehicle.
9. The positioning compensation system based on shipborne laser wireless charging of claim 6, wherein when the unmanned aerial vehicle performs laser wireless charging according to the laser with the adjusted beam direction as a target, the laser with the adjusted beam direction is shaped into a flat-top distribution by using a diffraction optical element.
10. The positioning compensation system based on shipborne laser wireless charging of claim 6, wherein the ship is matched with the target robot through radio frequency communication, and the ship position information and the target unmanned aerial vehicle position information are obtained based on the matched ship and target robot.

Description

Positioning compensation method and system based on shipborne laser wireless charging Technical Field The invention relates to a positioning compensation method and system based on shipborne laser wireless charging, and belongs to the technical field of ships. Background With the wide application of unmanned aerial vehicle in fields such as ocean monitoring, search and rescue and military reconnaissance, its duration becomes key bottleneck. Conventional battery powered approaches limit the mission duration of the drone, while wireless energy transfer techniques (e.g., laser charging) are considered to be an effective means of extending endurance. However, in an offshore environment, not only is the ship subject to waves to produce periodic sway, but also the trajectory of the unmanned aerial vehicle flight is also dynamically changing, resulting in difficulty in precisely aiming the laser beam at the unmanned aerial vehicle laser battery target. The existing laser charging scheme is mostly dependent on unilateral positioning (such as radar or visual tracking), lacks a cooperative mechanism of a ship and an unmanned aerial vehicle, is difficult to adapt to a complex dynamic environment, and is insufficient in energy transmission efficiency and stability. In the prior art, laser charging employs a laser tracking system mounted on a ship platform to accomplish target positioning of an aerial vehicle. The aerial unmanned aerial vehicle is used as the searched object, the laser transmitting end cannot directly obtain the position of the aerial unmanned aerial vehicle, and the position calculation of the unmanned aerial vehicle is carried out by means of a radar or tracking camera and combining a distance measuring device. Obviously, the existing scheme depends on single-side positioning (such as radar or visual tracking), lacks a cooperative mechanism of a ship and an unmanned aerial vehicle, is difficult to adapt to a complex dynamic environment, has insufficient energy transmission efficiency and stability, has insufficient precision of a single positioning mode in a complex marine environment, and can be influenced by signal shielding, electromagnetic interference and the like. Thus, there is a need for a cooperative positioning-based target compensation technique. Disclosure of Invention The invention aims to provide a positioning compensation method and a positioning compensation system based on shipborne laser wireless charging, which are used for solving the problem of dynamic alignment and improving the practicability of offshore laser charging. In order to achieve the above purpose, in one aspect, the present invention provides a positioning compensation method based on shipborne laser wireless charging, comprising the following steps: 1) Invoking an extended Kalman filtering algorithm to fuse the ship position information and the target unmanned aerial vehicle position information to obtain the relative position between the ship and the target unmanned aerial vehicle; 2) And according to the energy receiving state and the relative position of the target unmanned aerial vehicle, a model predictive control algorithm is called, the beam direction of the laser beam is adjusted when the laser is charged wirelessly, and the laser is used as the target unmanned aerial vehicle to charge wirelessly according to the laser with the adjusted beam direction. Further, when the extended kalman filter algorithm is invoked, the relative position is adjusted by residual matching using noise covariance. Further, the target unmanned aerial vehicle energy receiving state comprises the deviation and the power of the received energy, wherein the deviation and the power data of the received energy are obtained through a light intensity sensor and a power detector on the target unmanned aerial vehicle. Further, when the laser after the beam direction is adjusted is used as the target unmanned aerial vehicle to carry out laser wireless charging, the diffraction optical element is used for shaping the laser after the beam direction is adjusted into a flat-top distribution. And matching the ship with the target robot through radio frequency communication, and obtaining the ship position information and the target unmanned aerial vehicle position information based on the matched ship and the matched target robot. In another aspect, the invention provides a positioning compensation system based on shipborne laser wireless charging, which comprises a controller, wherein the controller is used for executing the following method: 1) Invoking an extended Kalman filtering algorithm to fuse the ship position information and the target unmanned aerial vehicle position information to obtain the relative position between the ship and the target unmanned aerial vehicle; 2) And according to the energy receiving state and the relative position of the target unmanned aerial vehicle, a model predictive control algorithm is called, the beam direc