CN106773741A - A kind of unmanned boat dynamic positioning system and method - Google Patents
A kind of unmanned boat dynamic positioning system and method Download PDFInfo
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Abstract
The invention discloses a kind of unmanned boat dynamic positioning system and method, the system includes sensor measuring system, control system, power and propulsion system；Methods described includes：Hydrodynamic model of the unmanned boat under multifactor effect is set up, unmanned boat control standardization description is realized；The various sensors equipped by unmanned boat measure the dynamic position and course of shipping, the real-time calculating of complexity is carried out by computer, using many vectored thrust control technologies, carry out dynamic positioning system uneoupled control, reach the purpose of thrust, rotating speed and thread pitch Collaborative Control, and then control the thrust device of unmanned boat to produce the perturbed force that propulsive force and torque goes resistance to be caused by external environment, realize unmanned boat keep target accommodation and stem to method.
Description
Technical field
The present invention relates to a kind of unmanned boat dynamic localization method and system, more particularly to a kind of nobody based on Based Intelligent Control
Ship power localization method and system.
Background technology
The implementation of development strategy, the unmanned means of transport of the water surface, the unmanned monitoring system of the water surface, the water surface are driven with China's innovation
The unmanned boat technology such as unmanned operation platform, just comes onto stage under Internet of Things, big data, cloud computing, the strong promotion of artificial intelligence,
Unmanned boat field blue sea of a piece of industry under already turning into, with wide research and application space.
Unmanned boat can run into the interference of the external environment conditions such as stormy waves stream when being navigated by water on ocean, if it is desired that unmanned boat and sea
Upper certain datum line holding certain position, ship must have the ability for producing opposite force and torque.At present, in someone's bateau neck domain, if thinking
When ship is kept accommodation to a certain specific position, the pool anchor cable or thruster of ship can effectively produce opposite force
The extraneous perturbed force of resistance is removed with torque.When general someone's ship is positioned using pool anchor cable to ship, anchor cable is from hull to four
Week dishes out, but because with the increase of the depth of water, this requires that anchor cable system has big weight, with the weight of anchor cable system
Increase, the difficulty cast anchor can be increased.In practice, if reach certain depth of water, anchor cable system can be to no avail.Anchor cable system
System is not applied on unmanned boat.
Propeller is different from mooring system, and it can provide thrust and torque to resist the external world when any depth of water
Environmental perturbation, from cost for, the cost of mooring system can increase with the increase of the depth of water, and the Cheng Mu of propeller and water
Deeply without too big relation.So produce power and torque to go to resist the interference of external environment using propeller, so as to keep ship
Position and course be a kind of preferable method.So, it is very high using dynamic localization method and system feasibility on unmanned boat.
Dynamic positioning system is the system for automatically controlling vessel position and course, and the system only relies on the propulsion system of itself
System.The various sensors equipped by itself measure the position and course of ship motion, and the real-time of complexity is carried out using computer
Calculate, and then control the thrust device of ship to produce propulsive force and torque to go to resist the perturbed force caused by external environment, make ship
Oceangoing ship keep target accommodation and ship to.Ship utilizes dynamic positioning system, can be in the inoperative profundal zone of mooring system
Domain is operated.Dynamic positioning system can make ship be fixed on certain position, can also be according to the direction of real-time stormy waves stream
Automatically regulate rubbing to optimal desired locations for ship.
Unmanned boat operation at sea environment is complicated and changeable, and the streamflow regime of different water environments, water-bed landforms, water surface meteorology are widely different
It is different, wind resistance, smooth water resistance, wave drag etc. to unmanned boat apply resistance comprehensive function, influence dynamic positioning accuracy and
Navigation stability.Unmanned boat job task species is various, in operation process, due to the movement and rotation of equipment on board and manipulating object
Turn, center of gravity, drinking water, bow to etc. the state moment change, the crucial navigation performance such as buoyancy, stability is pind down, and endangers unmanned boat dynamic
Power position stability and navigation reliability.Hydrodynamic model of the research unmanned boat under multifactor effect, specifies single factor test effect
Effect and multi-factor comprehensive effect, form unmanned boat hydrodynamic model general standard, are the critical tasks of unmanned boat research.With
This simultaneously, unmanned boat as brand-new surface craft, be related to intelligent network observing and controlling, optimal path planning, in real time navigation determine
The multidisciplinary problem such as plan, wireless communication, with high relevance and coupling, to comprising environment sensing, Powered Propulsion, solution
Coupling algorithm etc. is advanced in interior unmanned boat and control technology proposes huge challenge.Ship teams and groups are extremely relied in traditional Ship Controling
Navigation experience, should not be used in dynamic positioning of the unmanned boat under complex job environment.Accelerate the new propulsion system of unmanned boat and
Thrust control method revolution, makes a breakthrough first in unmanned boat key device and control algolithm, forms the autonomous of continuation
Innovation ability and research and development build-up effect, are the main ideas that industry development is led from two angles of depth and range.
The content of the invention
For solve it is above-mentioned present in problem and defect, the invention provides a kind of unmanned boat dynamic positioning system and side
Method.
The present invention is achieved by the following technical solutions：
A kind of unmanned boat dynamic positioning system, including：Sensor measuring system, control system, power and propulsion system；
The sensor measuring system, including navigation positioning module, environmental perception module and internal monitoring module；
The navigation positioning module, environmental perception module and internal monitoring module are integrated in corresponding sensor respectively, and
All being connected to kernel control module by CAN carries out the treatment of data；
The control system, including high-rise control and bottom control；For controlling more than of vessel position and course angle
The feedback control system of variable；
The power and propulsion system, including transmission facility, propeller and dynamic power machine and accessory system, for providing control
The power and torque of device output processed.
A kind of unmanned boat dynamic localization method, comprises the following steps：
Step A sets up a unmanned boat hydrodynamic model；
The unmanned ship position and oceangoing ship that step B measures measuring mechanism are processed to angle information, draw actual unmanned boat
Position and bow are to angle；
To angle signal be compared with actual value for desired position and bow by step C, show that actual value is inclined with desired value
Difference signal；
Step D design unmanned boat dynamic positioning control algolithm, calculate resistance position skew and external interference it is extensive
Multiple power and torque, make the average value of deviation be reduced to minimum；
Step E utilizes many vectored thrust optimum allocation algorithms, by the control such as the thrust of propeller and azimuth and rudder angle
Instruction be assigned to each propeller.
The beneficial effect of technical scheme that the present invention is provided is：
On unmanned boat dynamic localization method and system, drain off what is disturbed for the uncertain and extraneous stormy waves of model parameter
Dynamic positioning unmanned boat, proposes a kind of dynamic positioning unmanned boat All Speed Range adaptive fuzzy controller.Using three independent controls
Device processed controls unmanned boat motion in three directions respectively, during so as to simplifying the design of control rule and shorten execution
Between.For the thrust allocation optimization problems with Nonlinear Constraints, it is discrete to carry out equal portions to dynamic equality constraint, is passing
Improved in the particle cluster algorithm of system, added improved inertial factor, improved comparison criterion and improved interference are calculated
Son, the particle cluster algorithm after improvement is applied in thrust allocation strategy.
Brief description of the drawings
Fig. 1 is unmanned boat dynamic positioning system schematic diagram of the present invention；
Fig. 2 is unmanned boat dynamic positioning system basic framework figure of the present invention；
Fig. 3 is unmanned boat dynamic localization method flow chart of the present invention；
Fig. 4 is unmanned boat hydrodynamic force positioning system models block diagram of the present invention；
Fig. 5 is self-adaptive fuzzy control system in unmanned boat dynamic localization method of the present invention；
Fig. 6 is the fuzzy control rule of dynamic localization method of the present invention；
Fig. 7 is the stepwise ion exchange of dynamic localization method of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
A kind of unmanned boat dynamic positioning system is present embodiments provided, wherein,
Referring to Fig. 1, the service system includes：Sensor measuring system, control system, power and propulsion system.
Sensor measuring system, mainly including navigation positioning module, environmental perception module, internal monitoring module, each mould
The integrated corresponding sensor of block, finally being all connected to kernel control module by CAN carries out the treatment of data.
Control system, is a feedback control system for multivariable for controlling vessel position and course angle, is mainly included：It is high
Layer control, this part includes that controller and thrust are distributed；Bottom control.
Power and propulsion system, basic role are to provide the power and torque of controller output, and this system is main by transmitting electricity
Equipment, propeller and dynamic power machine and other accessory system compositions.
Referring to Fig. 2, unmanned boat dynamic positioning system basic framework figure, the system includes master system and slave computer system
System.Master system has friendly human-computer interaction interface, for total monitoring working platform personnel observation and record navigational speed information, rudder
The real time datas such as angle information, positional information, navigation attitude information and environmental information；Lower computer system is with boat-carrying core controller
Center, is made up of navigation positioning system, context aware systems, communication system and power propulsion system.
As shown in figure 3, the present embodiment additionally provides a kind of unmanned boat dynamic localization method, including：
Step 10 sets up a unmanned boat hydrodynamic model；
The unmanned ship position and bow that step 20 measures measuring mechanism are processed to angle information, draw actual unmanned boat
Position and bow are to angle；
To angle signal be compared with actual value for desired position and bow by step 30, show that actual value is inclined with desired value
Difference signal；
Step 40 design unmanned boat dynamic positioning control algolithm, calculate resistance position skew and external interference it is extensive
Multiple power and torque, make the average value of deviation be reduced to minimum；
Step 50 designs many vectored thrust optimum allocation algorithms, by the control such as the thrust of propeller and azimuth and rudder angle
Instruction be assigned to each propeller.
Referring to Fig. 4, above-mentioned steps 10 also include：
For ship motion model, plan is built respectively based on Balchen models to the low frequency movement and high frequency motion of unmanned boat
Vertical Mathematical Modeling.Make treatment clear from noise item to moving influence larger hydrodynamic force in low frequency movement with shipping, to reduce
Noise error, improves the estimation to ship motion.In high frequency motion, using ship model in regular ripple and different wave-to-course angle condition
Under tested, obtain the amplitude response and phase response of unmanned boat high frequency motion under regular ripple, calculate phase further according to wave spectrum
Experience spectrum under the wave-to-course angle answered, then calculates high frequency motion and responds, with this determination high frequency motion mould by the wave spectrum of irregular wave
Continuous item in type.
For environmental perturbation power model, it is contemplated that the dynamic uncertainty that stormy waves stream stochastic behaviour is caused, random mistake is introduced
Journey is described, and the load and situation of change to distinguished and admirable wave are analyzed respectively, and the environment for setting up stochastic differential equation description is disturbed
Dynamic model.Explore the method for estimation of random coefficient under random environment perturbed force model, and the simulation analysis stochastic differential power
System portrays degree to the ship motor imagination under actual Dynamic Uncertain sea situation.
For Propeller Model, using the concept of extension thrust, it is modeled as under different rudder angles and main thruster thrust
Percentage relation, ship is calculated in low speed of a ship or plane lower thrust and the pass of the speed of incoming flow of rudder by model test or Fluent
System, obtains the propeller thrust model with the combination of pitch lower rudder oar under different rudder angles.
Above-mentioned steps 20 are specifically included：Using integrated sensor technology, by the Big Dipper/gps system, acoustic positioning system and
Radar system etc. is integrated on unmanned boat, carries out accurate measurement and obtain unmanned ship position, bow believing to measurable states such as, navigation attitudes
Breath, realizes that sensor measuring system is quick, accurate, stably estimates the new motion state of ship and immeasurablel extraneous dry
Disturb power.
Above-mentioned steps 30 are specifically included：Combined with fuzzy self-adaption method using Kalman filter, made full use of karr
The linear filtering of graceful filtering algorithm and the advantage of the extensive dynamic data for the treatment of, carry out Heterogeneous Multi-Sensor Data fusion, realize
The identification and the estimation of new motion state of immeasurable disturbance power in unmanned boat power-positioning control system
Because the motion of unmanned boat dynamic positioning system major concern ship three degree of freedom in the horizontal plane is surging, swaying
With yawing campaign.Smaller in view of the coupling between ship three degree of freedom motion under low-speed situations, plan employs three independences
Controller control unmanned boat motion in three directions respectively, so as to simplify control rule design and shorten execution
Time.Fig. 5 show application principle schematic diagram of the self-adaptive fuzzy control system in unmanned boat dynamic positioning, its core
It is divided into fuzzy controller, as shown in dotted outline in FIG..The design of fuzzy controller includes following items content：Determine fuzzy control
The input variable and output variable (i.e. controlled quentity controlled variable) of device；Design the control rule of fuzzy controller；Establish obfuscation and non-fuzzy
Change the method (also known as sharpening)；Select the input variable of fuzzy controller and the domain of output variable and determine fuzzy control
Parameter (such as quantizing factor, scale factor)；Work out the application program of FUZZY ALGORITHMS FOR CONTROL.
When unmanned boat dynamic localization method uses fuzzy control, in order to obtain good control effect, must be requested that fuzzy
Control is with more perfect control rule.These control rules be controlled process is had less understanding information conclusion and operating experience
Summary.However, due to the complexity of marine environment residing for unmanned boat, fuzzy control rule or coarse or inadequate can be caused
It is perfect, control effect all can be to some extent influenceed, it is not enough in order to make up this, it is contemplated that fuzzy controller should be towards adaptive
Should, self-organizing, self study direction develop so that fuzzy control parameter and rule are automatically adjusted in control process, modification and
It is perfect, reach more preferably control effect.Therefore, in the design of this fuzzy control dynamic positioning system, using adaptive fuzzy control
Device processed, it increased a kind of fuzzy controller of self adaptation and composition on the basis of simple fuzzy control controller, as a result as schemed
Shown in 5.Dotted line frame is interior above in figure is increased part：Measurement module is used to measure reality output characteristic with desired characteristic
Deviation provides information so as to the amendment for control rule；Correction module will export corresponding correcting value by change control rule come
Realize.
The input variable of fuzzy controller can be one, or two or more, it is generally that fuzzy controller is defeated
The number for entering variable is considered as the dimension of fuzzy control.The dynamic property of one-dimensional fuzzy control is not good, current widely used two-dimentional mould
Fuzzy controllers, the rate of change with error and error as input variable, as shown in Figure 4.For unmanned boat power-positioning control system,
Required control is vessel position, therefore for each direction, controller with unmanned boat physical location in this direction with
The rate of change e' of deviation e and deviation between anchor point is used as input variable.
The input variable error of fuzzy controller, the actual range of error rate are referred to as the basic domain of these variables,
Obviously the amount of basic domain is precise volume, and the process that precise volume is converted to fuzzy quantity is turned into obfuscation (Fuzzification)
Or be fuzzy quantization, the general method discrete using precise volume.Then, fuzzy controller gives each variable in fuzzy set
Assign a confidence level.The control decision of fuzzy controller collects Indistinct Input collection and output by fuzzy control rule (FAM)
Connect, fuzzy control rule can be expressed with natural language, if-then sentences are generally used, it is possible thereby to set up nothing
The fuzzy control rule (as shown in Figure 6) of people's ship power alignment system.
Using stepwise ion exchange method, a fuzzy controller is added again respectively on the basis of grand master pattern fuzzy controllers,
So in great error range, Rough Fuzzy control is carried out；Thin fuzzy control is carried out in small error range.By setting error threshold
Value, realizes the switching of control, as shown in Figure 7.Using stepwise ion exchange will make system with good dynamic property simultaneously
Also good steady-state behaviour is possessed.
Many vectored thrust optimum allocation algorithms are designed, mainly includes three important composition factors:Object function, inequality is about
Beam and equality constraint, can be considered into the single goal optimization problems with nonlinear restriction.Asked for thrust distribution
Topic, in swarm intelligence algorithm, using particle cluster algorithm simple to operate, that convergence is fast.The object function of thrust assignment problem is main
Including:Thruster abrasion minimum, energy consumption minimization, avoid singularity etc..
Thrust allocation strategy will result in propeller abrasion during making propeller azimuthal variation, so in target letter
Propeller thrust rate of change and angular bearing rate should be just added in number, the abrasion that propeller is too fast is prevented.
In thrust allocation strategy, to consider that thruster exports the economy of energy consumption, can be using the power size of thruster output as mesh
One of scalar functions.The unmanned boat of dynamic positioning is generally equipped with multiple propellers, when impeller system can not be met by controller
When the desired controling power and torque that send, the system is unusual.For the dynamic positioning ship for being provided with full circle swinging, due to
The limitation of thrust angular speed, it is easy to cause system singular structure, now ship can lose operability.But drawn by marine environment
The perturbed force and torque for rising are slowly varying, when the direction of thruster and the direction of perturbed force are in the same direction, thruster
Energy consumption be minimum, be this should add it to optimization object function in.
Assuming that dynamic positioning unmanned boat has n propeller, then the thrust and deflection that each propeller is produced are respectively xi,
ai.The constraints of thrust distribution mainly includes meeting desired controling power and torque, the limitation of propeller angle, propeller thrust
Limitation etc..Meet desired controling power and the torque restrictive condition form in equation to be given, including longitudinally, laterally shaken with boat
Power and equalising torque, equality constraint are as follows:
In formula, τ=[Fx, Fy, FN] is the power and torque command of controller output；lyiAnd lxiRespectively propeller is to ship
The vertical and horizontal coordinate of oceangoing ship pivot.
In order to reduce the interaction between propeller, it is ensured that the mutual influence of each propeller is minimum, tackles propeller
Angle limited.The maximum thrust of each propeller is limited, and the thrust of propeller should be limited.
To sum up, the Mathematical Modeling of thrust distribution is as follows：
Tmin≤xi≤Tmax
amin≤ai≤amax
The Section 1 of object function represents the gross energy of propeller consumption, and P is weights, for adjusting consumed energy in target
Weight in function.Section 2 represents thrust variation rate term, x0Represent the thrust magnitude at previous moment, xiRepresent current time
Thrust magnitude, Q is weights, for adjusting weight of this in object function.Section 3 represents propeller angle change rate term,
a0Represent the angle of the propeller at previous moment, aiThe angle of the propeller at current time is represented, W is weights, for adjusting this
Weight of the item in object function.Section 4 represents and avoids impeller system singular structure, ε in formula>0 is the number of a very little, is kept away
It is 0, δ to exempt from denominator>0 is weight coefficient, and δ accounts for bigger, and unmanned boat maneuverability is better, and B (a) is the positional structure matrix of propeller,
It is as follows:
In formula, lyiAnd lxiRespectively vertical and horizontal coordinate of the propeller to unmanned boat pivot.
First three in constraints is equality constraint, whereinIt is time (environment) variable, it can be seen that
The first two equation is that the kinematic nonlinearity for depending on the time is constrained.Thrust assignment problem knowable to analysis can be regarded as dynamic more than
The optimization problem of state single goal nonlinear restriction.
For non-linear single-object problem, it is proposed that a kind of new disturbing operator, the operator can be partial to particle
The particle that the number of degrees run counter to are small or target function value is small is constrained in current population.Define improved population evolution side
Journey, position and speed using the equation more new particle, can be effectively prevented from premature problem.Thinking is：One is carried out to Y
Point after secondary disturbance isIn formula λ ∈ (0,1) for point Y alongThe distance walked.WhereinΦ(Xi) it is particle XiRun counter to the degree of constraint
Number, C is normal number, C- Φ (Xi)>0.As can be seen that the moving direction of point Y is all particles decisions in colony, and the direction
It is that target function value is smaller or the less particle position of the number of degrees run counter to of constraint.Plus this disturbing operator, it is likely that find
To optimal particle.
Algorithm flow is as follows：
Step1:To the time variable interval [t of thrust assignment problem0,ts] equal portions segmentation is carried out, the environment of gained might as well be set
It is t1,...,ts, make t=ti。
Step2:In environment tiUnder (i=1 ..., s), population scale N is given, randomly selected in the range of definition initial
The position of particle and speed, produce primary group pop0(ti)。
Step3:By the Pbest (t of particlei) it is set to current location, Gbest (ti) be set to primary group in it is optimal
Position.
Step4:For kth for population popk(ti) all particles, perform following operation:
(1) randomly generate r and belong to [0,1], if r<Pr, then to individual extreme value Pbest (ti) or global extremum Gbest
(ti) disturbed according to disturbing operator, do not disturb otherwise.
(2) produced in environment t according to conventional particle position and speed renewal equationiLower population pop of new generationk+1
(ti), make k=k+1.
Step5:Global extremum and individual extreme value are updated according to new comparison criterion.
Step6:If k=K and ti<ts, then such as ti=ti+1Turn step2；If k=K and ti=ts, stop, output
Gbest(ti)；If k<K, turns Step4.
T at a fixed time is can be seen that from the Mathematical Modeling of conventional particle cluster algorithmiUnder, each in population
The desired positions and the desired positions of colony that " flight " direction of particle in solution space is mainly experienced by particle are determined.Separately
Outward, the improvement of inertial factor, makes it with the iterations self-adaptative adjustment of itself, so more advantageously carries out office to solution space
Portion and the adaptable search of the overall situation.Disturbing operator can be disturbed to the individual extreme value of population and the global limit, can be made
Current optimal particle is moved along the less particle direction of the number of degrees that target function value is smaller or piece constraint is run counter to, so effective
Maintain the diversity of colony, turn avoid the precocious phenomenon of population.
The present invention solves the common problem of similar field, can be widely applied to general someone's ship, offshore oil platform and work
In the complexity operation on the sea complexity such as Cheng Chuan, cargo ship, underwater robot.Mainly there are following following characteristics：Construction fuzzy control is calculated
Method, designs adaptive fuzzy controller, and fuzzy control has self adaptation, self-organizing, learns by oneself habit, makes fuzzy control parameter and rule
Then automatically adjusted in control process, changed and perfect, reach more preferably control effect.
In unmanned boat motion, actual speed is not directly obtained, by unmanned boat speed observer, can be from nothing
The estimate of speed of the ship in metres per second is obtained in the measurement of the physical location and course angle of people's ship, it is anti-so as to realize dynamic positioning of vessels output
Feedback control.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (8)
1. a kind of unmanned boat dynamic positioning system, it is characterised in that the system includes：Sensor measuring system, control system,
Power and propulsion system；
The sensor measuring system, including navigation positioning module, environmental perception module and internal monitoring module；The navigation is fixed
Position module, environmental perception module and internal monitoring module are integrated in corresponding sensor respectively, and are all connected to by CAN
Kernel control module carries out the treatment of data；
The control system, including high-rise control and bottom control；A multivariable for controlling vessel position and course angle
Feedback control system；
The power and propulsion system, including transmission facility, propeller and dynamic power machine and accessory system, for providing controller
The power and torque of output.
2. a kind of unmanned boat dynamic localization method, it is characterised in that the described method comprises the following steps：
Step A sets up a unmanned boat hydrodynamic model；
The unmanned ship position and bow that step B measures measuring mechanism are processed to angle information, draw actual unmanned ship position
With bow to angle；
To angle signal be compared with actual value for desired position and bow by step C, show that actual value is believed with the deviation of desired value
Number；
Step D designs the control algolithm of unmanned boat dynamic positioning, calculates the restoring force of the skew of resistance position and external interference
And torque, the average value of deviation is reduced to minimum；
Step E designs many vectored thrust optimum allocation algorithms, by the finger of the control such as the thrust of propeller and azimuth and rudder angle
Order is assigned to each propeller.
3. a kind of unmanned boat dynamic localization method according to claim 2, it is characterised in that the step A also includes：
A1 intends distinguishing founding mathematical models to the low frequency movement and high frequency motion of unmanned boat based on Balchen models；
A2 considers the dynamic uncertainty that stormy waves stream stochastic behaviour is caused, and introduces random process and is described, respectively to distinguished and admirable
The load and situation of change of wave are analyzed, and set up the environmental perturbation power model of stochastic differential equation description；
A3 is modeled as the percentage relation with main thruster thrust under different rudder angles, by mould using the concept of extension thrust
Type is tested or Fluent is calculated ship in low speed of a ship or plane lower thrust and the relation of the speed of incoming flow of rudder, is obtained under different rudder angles
The propeller thrust model combined with pitch lower rudder oar.
4. a kind of described unmanned boat dynamic localization method is required according to right 2, it is characterised in that the step B mainly includes：
Using integrated sensor technology, the Big Dipper/gps system, acoustic positioning system and radar system etc. are integrated into unmanned boat
On, carry out accurate measurement and obtain unmanned ship position, bow to measurable status informations such as, navigation attitudes, realize sensor measuring system
Quickly, the new motion state of ship and immeasurablel external interference power accurately, are stably estimated.
5. a kind of unmanned boat dynamic localization method according to claim 2, it is characterised in that the step C also includes：
Combined with fuzzy self-adaption method using Kalman filter, the linear filtering and treatment using Kalman filtering algorithm are big
The advantage of scale dynamic data, carries out Heterogeneous Multi-Sensor Data fusion, and realizing can not in unmanned boat power-positioning control system
Survey the identification of perturbed force and the estimation of new motion state.
6. a kind of unmanned boat dynamic localization method according to claim 2, it is characterised in that the step D also includes：
Construction FUZZY ALGORITHMS FOR CONTROL, designs adaptive fuzzy controller, and the fuzzy controller measures actual defeated by measurement module
Go out characteristic with the deviation of desired characteristic so that the amendment for control rule provides information；Corresponding school will be exported by correction module
Positive quantity is realized by changing control rule.
7. a kind of unmanned boat dynamic localization method according to claim 2, it is characterised in that the step E includes：
Many vectored thrust optimum allocation algorithms are designed, mainly includes three important composition factors:Object function, inequality constraints and
Many vectored thrust optimum allocation algorithms can be considered into the single goal dynamic optimization with nonlinear restriction and asked by equality constraint
Topic；For thrust assignment problem, in swarm intelligence algorithm, using particle cluster algorithm simple to operate, that convergence is fast.
8. a kind of unmanned boat dynamic localization method according to claim 2, it is characterised in that real in unmanned boat motion
Border speed is not directly obtained, by unmanned boat speed observer, can be from the physical location of unmanned boat and course angle
The estimate of speed of the ship in metres per second is obtained in measurement, so as to realize dynamic positioning of vessels output feedback ontrol.
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