The invention discloses an anchoring method and system for a wave glider, and relates to the field of wave glider control, and the method comprises the steps: obtaining the rudder angle change and the battery voltage of the wave glider in real time; the battery voltage provides energy for the wave glider; determining the radius of a dead zone according to the rudder angle change and the battery voltage of the wave glider; a dead zone corresponding to the dead zone radius is a circular area with the expected position as the circle center and the dead zone radius as the radius, and when the wave glider enters the dead zone, the expected course of the wave glider is not changed any more; and determining the current expected course of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider. The anchoring precision is improved while energy consumption is considered.

    本发明公开一种波浪滑翔器的锚定方法及系统,涉及波浪滑翔器控制领域,该方法包括:实时获得波浪滑翔器的舵角变化和电池电压;所述电池电压为所述波浪滑翔器提供能量;根据所述波浪滑翔器的舵角变化和电池电压确定死区半径;所述死区半径对应的死区为以期望位置为圆心,以所述死区半径为半径的圆形区域,当所述波浪滑翔器进入死区时,所述波浪滑翔器的期望航向不再改变;根据所述波浪滑翔器的当前位置、期望位置和当前死区半径,确定所述波浪滑翔器的当前期望航向。本发明在考虑能量消耗的同时提高了锚定精度。


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    Titel :

    Anchoring method and system of wave glider


    Weitere Titelangaben:

    一种波浪滑翔器的锚定方法及系统


    Beteiligte:
    YU PEIYUAN (Autor:in) / ZHOU YING (Autor:in) / SUN XIUJUN (Autor:in)

    Erscheinungsdatum :

    2023-04-28


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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