The invention discloses a navigational speed estimation method for an unmanned sailboat, and relates to the technical field of unmanned sailboat speed measurement. The method comprises the following steps: S1, establishing a global coordinate system OOx0y0z0 and a ship body coordinate system Oxyz; s2, calculating a drift angle beta when the sailboat is in a balanced state; s3, the relative wind speed and the relative wind direction angle are obtained through the speed triangle, and an aerodynamic model is established; s4, determining a four-degree-of-freedom ship dynamics model, additional mass and rotational inertia moment; s5, calculating the stress of the ship body; and S6, detecting the balance of each force. According to the method, a global coordinate system and a ship body coordinate system are used for establishing a sailing ship dynamic model, ship body stress and sail stress are calculated, the navigational speed is calculated and updated through thrust and resistance, the rudder angle is adjusted through yaw moment, and reasonable navigational speed input is provided for path planning of a sailing ship; the sailing time of the whole voyage of the sailboat is reasonably estimated, and monitoring personnel can conveniently make reasonable time scheduling for task execution of the unmanned sailboat.
本发明公开了一种无人帆船的航速估算方法,涉及无人帆船测速技术领域。本发明包括如下步骤:步骤S1:建立全局坐标系OOx0y0z0和船体坐标系Oxyz;步骤S2:帆船平衡状态下,计算漂角β;步骤S3:利用速度三角形求得相对风速和相对风向角,建立空气动力模型;步骤S4:确定四自由度船舶动力学模型、附加质量和转动惯性矩;步骤S5:计算船体受力;步骤S6:检测各个力的平衡。本发明通过使用全局坐标系和船体坐标系建立帆船动力学模型,计算船体受力和风帆受力,由推力和阻力计算更新航速,由偏航力矩调整舵角,为帆船的路径规划提供合理的航速输入;合理估算帆船整个航程的航行时间,方便监测人员对于无人帆船执行任务做出合理的时间调度。
Navigation speed estimation method of unmanned sailboat
一种无人帆船的航速估算方法
2022-10-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |