自主式水面航行器导航与制导算法的研究

发布时间：2017-12-31 18:41

本文关键词：自主式水面航行器导航与制导算法的研究　出处：《大连海事大学》2014年硕士论文　论文类型：学位论文

【摘要】：近年来,无人水面航行器(Unmanned Surface Vessel, USV)的应用和进展引起了人们极大的关注。对于USV的发展而言,自主航行技术是一个重要的研究领域。自主航行技术可降低USV对于人员和无线通信带宽需求,使其能够通过自主决策功能保证其在航行中的安全；另外,通过自主航行技术,USV可与多个航行器协同作业,这对发展大规模无人海上作战体系和海上探测体系是至关重要的。 USV的航行自主决策系统极其复杂,核心的算法是实现自主航行的决策依据。本文主要研究了自主航行中的三个重要方面,分别为：路径规划、自动避碰和制导。具体完成了以下工作：首先根据USV路径规划的需要,从规划算法、环境建模、约束条件等方面进行了研究。选择了A*算法作为规划算法,并基于电子海图资料建立环境模型,结合USV航行需要对A*算法提出了进一步优化方法。最后编写了USV路径规划的软件,并用大连海域的海图验证了A*算法有效性以及该软件的适用性。其次研究了USV的自动避碰原理,并建立了基于速度的避碰模型,并将“国际海上避碰规则”的要求考虑到避碰决策当中。最后根据USV的运动特性结合导弹制导算法研究了USV自动制导问题,并对USV运用导弹制导算法完成追击、拦截以及队形变化进行了仿真,进一步验证导弹制导算法用于USV制导的可行性。
[Abstract]:In recent years, the application and progress of Unmanned Surface vessel (USVs) have attracted great attention, especially for the development of USV. Autonomous navigation technology is an important research field. Autonomous navigation technology can reduce the requirements of USV for personnel and wireless communication bandwidth, enabling it to ensure its safety in navigation through autonomous decision-making function. In addition, USV can work in cooperation with multiple vehicles through autonomous navigation technology, which is very important for the development of large-scale unmanned marine combat system and maritime exploration system. The navigation autonomous decision system of USV is extremely complex, and the core algorithm is the decision basis to realize autonomous navigation. This paper mainly studies three important aspects of autonomous navigation, namely: path planning. Automatic collision avoidance and guidance. Firstly, according to the needs of USV path planning, the planning algorithm, environmental modeling, constraints and other aspects are studied. The A * algorithm is selected as the planning algorithm, and the environmental model is built based on the electronic chart data. According to the needs of USV navigation, a further optimization method is proposed for the A * algorithm. Finally, the USV path planning software is developed. The validity of the A * algorithm and the applicability of the software are verified by the chart of Dalian Sea area. Secondly, the principle of automatic collision avoidance of USV is studied, and the model of collision avoidance based on velocity is established, and the requirements of "International rules for preventing collision at Sea" are taken into account in the decision-making of collision avoidance. Finally, according to the motion characteristics of USV and missile guidance algorithm, the USV automatic guidance problem is studied, and the simulation of USV using missile guidance algorithm to complete pursuit, interception and formation change is carried out. The feasibility of using missile guidance algorithm in USV guidance is further verified.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U675.7

【参考文献】