本发明一种基于子母艇的无人艇自主回收方法,具体步骤为:1)无人艇通过组合导航获取无人艇经纬度、速度与姿态;2)建立母船‑无人艇相对导航坐标系;3)建立无人艇进入母船坞舱对接区域;4)无人艇航行进入对接区域,并保持在对接区域内;5)无人艇控制自身速度位置,使其沿相对导航坐标系x轴航向坞舱;6)无人艇加速航行,沿坞舱中心线进入母船坞舱内部;7)无人艇获取无母船坞舱的相对位置;8)无人艇采用目标追踪算法航行至指定停靠目标点;9)停靠回收。

    The invention discloses an unmanned ship autonomous recovery method based on primary and secondary ships. The unmanned ship autonomous recovery method comprises the following specific steps of: 1) acquiring longitude, latitude, speed and attitude of an unmanned ship by the unmanned ship through integrated navigation; 2) establishing a mother ship-unmanned ship relative navigation coordinate system; 3) establishing a docking region for the unmanned ship to enter a mother ship dock cabin; 4) enabling the unmanned ship to sail into the docking region and kept in the docking region; 5) controllinga speed and a position of the unmanned ship to enable the unmanned ship to navigate along an x-axis course dock cabin of a relative navigation coordinate system, (6) accelerating navigation of the unmanned ship and enabling the unmanned ship to enter the mother ship dock cabin along the center line of the dock cabin, (7) acquiring the relative position of the mother ship dock cabin, (8) navigating the unmanned ship to a designated docking target point by adopting a target tracking algorithm, (9) and docking and recovering the unmanned ship.


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    Titel :

    一种基于子母艇的无人艇自主回收方法


    Erscheinungsdatum :

    2023-07-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung