The invention discloses an unmanned bathyscaph autonomous navigation trajectory prediction integral control method and device. The method comprises the following steps of: acquiring a three-dimensional space model corresponding to a submarine topography environment around an unmanned bathyscaph; randomly sampling a plurality of control sequences, wherein each control sequence comprises a plurality of sections of control instructions of different time slices; acquiring a corresponding first prediction trajectory according to each control sequence; setting the potential energy values of all environmental particles in the three-dimensional space model to be a maximum value and the potential energy value of seawater to be 0, and respectively calculating the total potential energy value of each first prediction trajectory; carrying out integration on the control sequences according to the total potential energy value, summing integration results of the control instructions with the same time slice in all the control sequences to obtain a prediction control sequence, and performing execution; according to the method, deep sea environment information probably detected in the future is considered in control instruction solving in a period of time in the future, the response speed of the bathyscaph to the complex and changeable deep sea environment is effectively increased, and the operation safety of the bathyscaph is improved.
本发明公开了一种无人深潜器自主导航轨迹预测积分控制方法及装置,该方法包括:获取无人深潜器周围的海底地形环境对应的三维空间模型;随机采样多条控制序列,每条控制序列中包括不同时间片段的多段控制指令;根据每条控制序列获得对应的第一预测轨迹;设定三维空间模型中的所有环境颗粒的势能值为极大值,海水的势能值为0,分别计算每条第一预测轨迹的总势能值;根据总势能值对控制序列进行积分,分别对各条控制序列中具有相同时间片段的控制指令的积分结果求和,获得预测控制序列并执行;本发明将可能在未来探测到的深海环境信息考虑到未来一段时间内的控制指令求解中,有效加快深潜器对复杂多变深海环境的响应速度,提高深潜器作业的安全性。
Unmanned bathyscaph autonomous navigation trajectory prediction integral control method and device
无人深潜器自主导航轨迹预测积分控制方法及装置
2021-05-07
Patent
Electronic Resource
Chinese
Self-flowing circulation auxiliary device for bathyscaph
European Patent Office | 2024
|Dual-redundancy combined bathyscaph load rejection self-rescue device
European Patent Office | 2023
|Underwater emergency rescue device of bathyscaph and self-rescue method thereof
European Patent Office | 2023
|Design of the bathyscaph Trieste II
TIBKAT | 1963
|