Disclosed is a method for changing the direction of a water jet-type unmanned surface vehicle and a steering angle measurement device capable of measuring a steering angle for the method. The method repeats a loop at later points of time at a predetermined cycle, wherein the loop includes a step of checking target azimuth and stem azimuth at a first point of time and calculating a deviation angle, and a step of modifying a steering angle to a water jet steering angle obtained by multiplying the deviation angle by the predetermined steering angle ratio determined according to a ship, and the loop includes a step of obtaining a deviation angle difference value obtained by subtracting a deviation angle of a previous loop from a deviation angle obtained in each loop. The method repeats the loop with the steering angle set at zero instead of modifying into the steering angle obtained by multiplying the predetermined steering angle ratio when the deviation angle difference value is switched from an initial sign to another sign according to a trend in the deviation angle difference value while repeating the loop. When the maximum value of deviation angles obtained from the loops allowing the unmanned surface vehicle to have a series of steering angles having the same sign as loops before the steering angle is set to zero is defined as the maximum deviation angle, the method repeats the loop with the water jet steering angle modified such that the unmanned surface vehicle has a steering angle (default steering angle) having a default size and a sign opposite to that of the series of steering angles obtained from the loop before the steering angle is set to zero instead of setting the steering angle to zero in a loop at a specific point of time when a deviation angle obtained in the loop at the specific point of time drops to a predetermined rate of the maximum deviation angle after the steering angle is set to zero, and the method repeats the loop until the deviation angle becomes less than or equal to a predetermined angle. Thus, the water jet-type unmanned surface vehicle can change directions stably and efficiently.

    제1 시점에서 목표방위각 및 선수방위각을 확인하고 편차각을 산출하는 단계, 조향각을 편차각에 선박에 따라 정하는 일정한 조향각비를 곱하여 얻은 워터젯 조향각으로 수정하는 단계를 하나의 루프로서 일정 주기로 이후 시점들에 대해 루프를 반복하고, 각 루프마다 얻은 편차각에서 이전 단계 루프의 편차각을 차감한 편차각 차이값을 얻는 단계를 루프 내에 구비하고, 루프를 반복하면서 편차각 차이값의 추이를 따라 편차각 차이값이 최초 부호에서 다른 부호로 전환되면 조향각비를 곱하여 얻은 조향각으로 수정하는 대신 조향각을 0로 설정하여 루프를 반복하고, 조향각 0 설정하기 이전 루프로서 일련의 같은 부호의 조향각을 가지도록 하는 루프들에서 얻은 편차각 가운데 최대값을 최대편차각이라고 할 때, 조향각 0 설정 이후 특정 시점 루프에서 얻은 편차각이 최대 편차각의 일정 비율 이하로 떨어지면 특정 시점 루프에서는 조향각을 0으로 설정하는 대신에 조향각 0 설정 이전의 루프에서 얻어진 일련의 조향각과 반대의 부호의 기본 크기의 조향각(기본조향각)을 가지도록 워터젯 조향각을 수정하여 루프를 반복 진행하되 편차각이 미리 정해진 일정 각도 이하가 될 때까지 루프를 반복하는 워터젯 무인수상정의 방향 전환 방법 및 이를 위해 조향각을 정밀하게 측정할 수 있는 조향각 측정장치가 개시된다.


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    Titel :

    method of changing direction of water jet type unmanned surface vehicle


    Weitere Titelangaben:

    워터젯 무인수상정의 방향 전환 방법


    Beteiligte:
    KIM DONG HEE (Autor:in)

    Erscheinungsdatum :

    2019-11-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



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