CN104483975B - A kind of UUV adaptive turning speed methods of adjustment based on way point - Google Patents
A kind of UUV adaptive turning speed methods of adjustment based on way point Download PDFInfo
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- CN104483975B CN104483975B CN201410617653.4A CN201410617653A CN104483975B CN 104483975 B CN104483975 B CN 104483975B CN 201410617653 A CN201410617653 A CN 201410617653A CN 104483975 B CN104483975 B CN 104483975B
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Abstract
The invention discloses a kind of UUV adaptive turning speed methods of adjustment based on way point.From mission Reading text UUV previous way point, current way point, next way point and planning speed, planning speed is exported as speed command；Calculate current approach angle；Calculate the radius of turn in current air route；Inertial navigator gathers UUV physical location in real time；Judge whether UUV meets the condition for enabling turning speed, if meeting condition, calculate and export turning speed instruction；Optical fiber compass gathers UUV actual heading in real time；Judge whether UUV reaches current way point, if reaching current way point, judge whether the way point in mission text has all reached, if all reached, task terminates.The present invention can reduce air route overshoot when UUV turns, and improve air route tracking effect.
Description
Technical field
The invention belongs to a kind of UUV speed adjustment methods, more particularly to a kind of UUV navigation when turning is based on way point
UUV adaptive turning speed methods of adjustment.
Background technology
At present, underwater unmanned vehicle (Unmanned Underwater Vehicle-UUV) performs the most frequently used during mission
Navigation path be with multiple way points couple straightway path.When UUV from an air route is transformed into another air route
When just have to perform turning action.When current UUV carries out underwater navigation task, way point is only included in the mission text of reception
Positional information and the UUV velocity informations cooked up, turning speed information is not included in mission text, so common do
Method is one fixed radius of turn of setting, and when the distance of UUV and current way point is less than or equal to radius of turn, UUV starts
Turn, but speed when not to turning is adjusted, and is mainly not reduction of speed, whole navigation process is using unified planning speed
Degree.There are following two problems in such way：(1) fixed radius of turn is not appropriate for all turning angle (two air routes
Between approach angle) situation；(2) UUV will be caused to be turned with larger speed.Two above question synthesis gets up will
Cause UUV to take a sudden turn, curving effect is deteriorated, energy consumption increases and produces air route overshoot.Especially, when angle of turn compared with
It is more obvious when big (when right angle or obtuse angle are spent).
The content of the invention
It is an object of the invention to provide it is a kind of can reduce the overshoot of turning air route, improve air route tracking effect based on air route
The UUV adaptive turning speed methods of adjustment of point.
The present invention is achieved by the following technical solutions：
A kind of UUV adaptive turning speed methods of adjustment based on way point, including following steps：
Step one：From mission Reading text UUV previous way point pk-1Position (xk-1,yk-1), current way point pk's
Position (xk,yk), next way point pk+1Position (xk+1,yk+1) and planning velocity information, it regard planning velocity information as UUV
Speed command is exported, and current approach angle α is calculated according to the information of readingk；
Step 2：According to current approach angle αk, calculate the radius of turn R in the current air routes of UUVk；
Step 3：Inertial navigator gathers UUV physical location (x in real timeuuv,yuuv)；
Step 4：According to UUV physical location (xuuv,yuuv) and current way point pkPosition (xk,yk), judge that UUV is
It is no to meet the condition for enabling turning speed, if meeting condition, step 5 is carried out, if being unsatisfactory for condition, repeat step three~
Step 4；
Step 5：According to current approach angle αk, calculate and export the instruction of UUV turning speeds；
Step 6：Optical fiber compass gathers UUV actual heading ψ in real timeuuv；
Step 7：According to UUV actual heading ψuuv, physical location (xuuv,yuuv), current way point pkPosition (xk,
yk), next way point pk+1Position (xk+1,yk+1) and current air route radius of turn Rk, judge whether UUV reaches current boat
Waypoint, if reaching current way point, goes to step eight, if not reaching current way point, six~step 7 of repeat step；
Step 8：Judge whether the way point in mission text has all reached, if all reached, task terminates, if do not had
Have, one~step 8 of repeat step.
A kind of UUV adaptive turning speed methods of adjustment based on way point of the present invention, can also include：
1st, current approach angle αkFor：
Wherein, N is the total number of way point, uk=[xk-xk-1,yk-yk-1]T, uk+1=[(xk+1-xk),(yk+1-yk)]T,
And there is αk∈[-π,π]。
2nd, the radius of turn R in the current air routes of UUVkFor：
Wherein, RmaxFor the threshold limit value of UUV radiuss of turn, RminFor the minimum limit value of UUV radiuss of turn, σRFor radius because
Son.
3rd, judge whether UUV meets to enable the condition of turning speed and be：
4th, turning speed instruction vcmd_kFor：
Wherein, vmaxThe threshold limit value instructed for UUV turning speeds, vminThe minimum limit value instructed for UUV turning speeds, σv
For velocity factor.
5th, judge that the condition whether UUV reaches current way point is：
Wherein, Ψ is course deviation threshold value.
Beneficial effects of the present invention：
Can make UUV navigate by water turn when adaptively take rational radius of turn, the adjustment of scanning frequency of going forward side by side degree is to reduce
Turning speed, it is to avoid the appearance of UUV zig zags.
By the adaptive adjustment to UUV turning speeds, air route overshoot when UUV turns can be eliminated, energy consumption is reduced
And more preferable air route tracking effect can be obtained.
When calculating UUV radius of turn and turning speed, the positional information of way point is only used, information needed amount is few,
Calculate simple, it is easy to Project Realization.
Brief description of the drawings
Fig. 1 is UUV way points and approach angle schematic diagram；
Fig. 2 is UUV adaptive turning speed method of adjustment flow charts；
Fig. 3 is that UUV radiuss of turn generate schematic diagram；
Fig. 4 is UUV turning speeds instruction generation schematic diagram；
Fig. 5 is that UUV adaptive turning speeds adjust system schematic；
Fig. 6 navigates by water curving effect figure for the UUV not using the present invention；
Fig. 7 is the UUV navigation curving effect figures using the present invention.
Embodiment
The present invention is described in further details below in conjunction with accompanying drawing.
With reference to Fig. 1, UUV way point and approach angle are described as follows:
The way point that defining UUV will currently reach is referred to as current way point pk, its positional information is (xk,yk)；Before definition
One way point is pk-1, its positional information is (xk-1,yk-1)；Next way point is defined for pk+1, its positional information is (xk+1,
yk+1).Air routeReferred to as current air route, air routeReferred to as next air route,WithBetween direction
Angle αkReferred to as current approach angle.
With reference to Fig. 2, UUV adaptive turning speed methods of adjustment are introduced：
Step one：Initializing set Rmax、Rmin、σR、vmax、vmin、σvAnd Ψ；
Step 2：From mission Reading text UUV previous way point pk-1Position (xk-1,yk-1), current way point pk's
Position (xk,yk), next way point pk+1Position (xk+1,yk+1) and planning velocity information, it regard planning velocity information as UUV
Speed command is exported, and current approach angle α is calculated according to the information of readingk：
Wherein, N is the total number of way point, uk=[xk-xk-1,yk-yk-1]T, uk+1=[(xk+1-xk),(yk+1-yk)]T,
And there is αk∈[-π,π]。
Step 3：According to current approach angle αk, calculate the radius of turn R in the current air routes of UUVk：
Wherein, RkFor the radius of turn in current air route, RmaxFor the threshold limit value of UUV radiuss of turn, RminTurned partly for UUV
The minimum limit value in footpath, σRFor radius factor.Rmax、RminAnd σRSet in initialization.
Step 4：Inertial navigator gathers UUV physical location (x in real timeuuv,yuuv)；
Step 5：According to UUV physical location (xuuv,yuuv) and current way point pkPosition (xk,yk), judge that UUV is
It is no to meet the condition for enabling turning speed, if meeting condition, step 6 is carried out, if being unsatisfactory for condition, four are gone to step；
Shown in determination methods such as formula (3).
If formula (3) is met, UUV enables turning speed；
Step 6：According to current approach angle αk, calculate and export turning speed instruction；
Wherein, vcmd_kInstructed for the turning speed in current air route, vmaxThe threshold limit value instructed for UUV turning speeds, vmin
The minimum limit value instructed for UUV turning speeds, σvFor velocity factor.vmax、vminAnd σvSet in initialization.
Step 7：Optical fiber compass gathers UUV actual heading ψ in real timeuuv；
Step 8：According to UUV actual heading ψuuv, physical location (xuuv,yuuv), current way point pkPosition (xk,
yk), next way point pk+1Position (xk+1,yk+1) and current air route radius of turn Rk, judge that UUV reaches current air route
Point, shown in determination methods such as formula (5).
In formula, Ψ is course deviation threshold value, is set in initialization, typically desirable 10 ° of Ψ ＜.If formula (5) is met, table
Bright UUV course is adjusted to next air route substantiallyCourse, i.e. UUV turn complete, reached current air route
Point, prepares to navigate by water to next way point, nine is gone to step, if being unsatisfactory for going to step seven；
Step 9：Judge whether the way point in mission text has all reached, if all reached, task terminates, if do not had
Have, UUV is navigated by water to next way point, one~step 9 of repeat step.
Schematic diagram is generated with reference to Fig. 3 radiuss of turn for introducing UUV：
The radius of turn in the current air routes of UUV is generated according to formula (2).By formula (2) it is recognised that turn in UUV current air route
Curved radius RkAnd Rmax、Rmin、σRAnd current approach angle αkIt is relevant.Wherein, RmaxAnd RminIt is fixed value, RminIt is intrinsic with UUV
Turning performance is relevant, can be determined according to experiment；RmaxTypically desirable Rmin1.5~2 times；Radius factor σR0.5~2 typically is taken,
It can be set according to actual needs.Once Rmax、Rmin、σRSetting, then UUV radius of turn will be by current approach angle αk
Determine.Fig. 3 gives Rmax=35m, Rmin=20m, σRIt is respectively set as in the case of 0.5,1 and 2 three kind, radius of turn and air route
Angle αkRelation.It can be seen that no matter which kind of radius factor, the absolute value of current approach angle is bigger, UUV turning half
Footpath is bigger, i.e. UUV gets over the scanning frequency degree adjustment of going forward side by side that turn in advance.
With reference to Fig. 4, UUV turning speed instruction generation schematic diagram is introduced：
The turning speed instruction in the current air routes of UUV is generated according to formula (4).By formula (4) it is recognised that UUV current air route
Turning speed instruction vcmd_kAnd vmax、vmin、σvAnd current approach angle αkIt is relevant.Wherein, vmaxAnd vminWith UUV intrinsic boat
Fast characteristic is relevant, can be determined according to experiment；Velocity factor σv0.5~2 is typically also can use, can be selected according to actual needs
Setting.Once vmax、vmin、σvSetting, then UUV turning speed instruction will be by current approach angle αkDetermine.Fig. 4 gives vmax
=5m/s, vmin=0.5m/s, σvIt is respectively set as in the case of 0.5,1 and 2 three kind, turning speed instruction and approach angle αkPass
System.It can be seen that no matter which kind of velocity factor, the absolute value of current approach angle is bigger, and UUV turning speed instruction is got over
Small, i.e. UUV gets over and reduce speed and turned.
With reference to Fig. 5, UUV adaptive turning speeds adjustment system is introduced：
Approach angle generation module is from mission Reading text way point information, and according to the previous way points of UUV, current way point
With the positional information of next way point, current approach angle is calculated, radius of turn generation module and speed command generation is output to
Module.
Radius of turn generation module calculates UUV along the turning during progress speed adjustment of current air route according to current approach angle
Radius, and be output to and enable turning speed module
Positional information current inertial navigator collection UUV, is output to and enables turning speed module.
Enable turning speed module and judge whether UUV enables turning speed according to UUV current location informations and radius of turn.
If enabled, sent to speed command generation module and enable turning speed signal.
Optical fiber compass gathers the current course informations of UUV, is output to deactivation turning speed module.
Turning speed module is disabled from mission Reading text way point information, and according to UUV current course information, UUV
Current location information, current way point information, next way point information and current air route radius of turn judge whether UUV reaches boat
Waypoint simultaneously disables turning speed, if disabled, is sent to speed command generation module and disables turning speed signal.
If speed command generation module, which is received, enables turning speed signal, calculated according to current air route angle information and defeated
Go out UUV turning speed instruction；If receiving deactivation turning speed signal, velocity information is planned and defeated from mission Reading text
Go out to plan speed command.
Fig. 6 and Fig. 7 present the contrast for not utilizing and curving effect being navigated by water using UUV in the case of two kinds of the inventive method
As a result.
Wherein, what is presented in Fig. 6 is UUV navigation curving effects not using the present invention, and what Fig. 7 was presented is to utilize the present invention
UUV navigation curving effect.Can significantly it find out from comparing result, after the present invention, air route overshoot quilt when UUV turns
Eliminate, UUV air route tracking effect is more preferable.In addition, UUV turning process more smooth, turning efficiency is improved, reduce
UUV energy consumption.
Claims (5)
1. a kind of UUV adaptive turning speed methods of adjustment based on way point, it is characterised in that including following steps：
Step one：From mission Reading text UUV previous way point pk-1Position (xk-1,yk-1), current way point pkPosition
(xk,yk), next way point pk+1Position (xk+1,yk+1) and planning velocity information, it regard planning velocity information as UUV speed
Instruction output, current approach angle α is calculated according to the information of readingk；
Step 2：According to current approach angle αk, calculate the radius of turn R in the current air routes of UUVk；
Step 3：Inertial navigator gathers UUV physical location (x in real timeuuv,yuuv)；
Step 4：According to UUV physical location (xuuv,yuuv) and current way point pkPosition (xk,yk), judge whether UUV is full
Foot enables the condition of turning speed adjust instruction, if meeting condition, carries out step 5, if being unsatisfactory for condition, repeat step
Three~step 4；
Step 5：According to current approach angle αk, calculate and export UUV turning speed adjust instruction；
Step 6：Optical fiber compass gathers UUV actual heading ψ in real timeuuv；
Step 7：According to UUV actual heading ψuuv, physical location (xuuv,yuuv), current way point pkPosition (xk,yk), under
One way point pk+1Position (xk+1,yk+1) and current air route radius of turn Rk, judge whether UUV reaches current way point,
If reaching current way point, eight are gone to step, if not reaching current way point, six~step 7 of repeat step；
Step 8：Judge whether the way point in mission text has all reached, if all reached, task terminates, if not provided, weight
Multiple step one~step 8；
It is described to judge whether UUV meets and enable the condition of turning speed adjust instruction and be：
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2. a kind of UUV adaptive turning speed methods of adjustment based on way point according to claim 1, its feature exists
In：
Described current approach angle αkFor：
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αk∈[-π,π]。
3. a kind of UUV adaptive turning speed methods of adjustment based on way point according to claim 1, its feature exists
In：
The radius of turn R in the current air routes of described UUVkFor：
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Wherein, RmaxFor the threshold limit value of UUV radiuss of turn, RminFor the minimum limit value of UUV radiuss of turn, σRFor radius factor.
4. a kind of UUV adaptive turning speed methods of adjustment based on way point according to claim 1, its feature exists
In：Described turning speed adjust instruction vcmd_kFor：
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5. a kind of UUV adaptive turning speed methods of adjustment based on way point according to claim 1, its feature exists
In：The described condition whether UUV reaches current way point that judges is：
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Wherein, Ψ is course deviation threshold value.
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| CN104765370A (en) * | 2015-04-15 | 2015-07-08 | 哈尔滨工业大学 | UUV trajectory sight guiding method with sideslip angle considered under condition of environmental disturbance |
| CN108496136A (en) * | 2017-05-24 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Control method of making a return voyage, equipment and the unmanned vehicle of unmanned vehicle |
| CN107817806B (en) * | 2017-11-02 | 2020-07-03 | 中国船舶重工集团公司第七0五研究所 | Horizontal route calculation method for AUV autonomous docking submerged buoy |
| CN110362080B (en) * | 2019-07-12 | 2022-08-09 | 深圳市哈威飞行科技有限公司 | Path optimization method and device for differential unmanned ship and computer readable storage medium |
| CN113093789B (en) * | 2021-03-22 | 2022-03-15 | 北京航空航天大学 | Planning method for avoiding trajectory of aircraft no-fly zone based on path point optimization |
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| US9822757B2 (en) * | 2011-02-23 | 2017-11-21 | The Woods Hole Group, Inc. | Underwater tethered telemetry platform |
| CN102768539B (en) * | 2012-06-26 | 2014-08-06 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) three-dimension curve path tracking control method based on iteration |
| CN102722177B (en) * | 2012-06-27 | 2014-06-25 | 哈尔滨工程大学 | Autonomous underwater vehicle (AUV) three-dimensional straight path tracking control method with PID (Piping and Instruments Diagram) feedback gain |
| CN103592854B (en) * | 2013-11-14 | 2017-01-04 | 哈尔滨工程大学 | A kind of synchronization virtual deduction device of underwater unmanned vehicle observation mission |
| CN103576685A (en) * | 2013-11-14 | 2014-02-12 | 哈尔滨工程大学 | Method for determining path of UUV in process of recycling mother ship |
| CN103777639B (en) * | 2014-01-10 | 2015-06-24 | 哈尔滨工程大学 | UUV three-dimension sea route planning method in moving obstacle environment |
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