基于多源观测的无人艇回收系统设计  

Design of unmanned surface vehicle docking system based on multi-source observation

作　　者：孔典 杨少龙 杨立春 向先波[1,2] KONG Dian;YANG Shaolong;YANG Lichun;XIANG Xianbo(School of Naval Architecture and Ocean Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;Key Laboratory of Ship and Ocean Hydrodynamics of Hubei Province,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430074 [2]华中科技大学船舶和海洋水动力湖北省重点实验室,湖北武汉430074

出　　处：《中国舰船研究》2024年第5期214-222,共9页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(5213000376);湖北省创新群体项目资助(2021CFA026)。

摘　　要：[目的]为可靠观测回收斗导引信息并实现无人艇(USV)的运动目标跟踪,提出一种基于多源观测的回收斗导引对接策略。[方法]在整个对接过程中,首先避开母艇尾流干扰区,完成USV航线的粗对准;然后保持航向跟踪导引线,为末端对接回收做调整准备;最后将视觉传感器和惯性导航传感器获取的数据进行滤波融合后传递给USV以计算回收导引线,USV则通过自身制导与控制完成对末端导引线的跟踪与对接回收任务。同时,设计一套基于视觉和组合导航融合的USV对接回收系统,通过自行设计实艇软硬件并进行外场湖试,验证系统设计及对接策略的可行性。[结果]试验结果显示,USV执行自主对接任务的成功率达91.6%,所提对接策略可以满足USV的高精度对接回收。[结论]所做研究可为USV回收提供关键的技术支撑。[Objectives]This paper proposes a multi-source observation-based recovery bucket guidance docking strategy for the reliable recovery observation and motion goal tracking of unmanned surface vessels(USVs).[Methods]During the entire docking process,the interference zone of the mother ship's wake is first avoided in order to complete the rough alignment of the USV route;the heading tracking guidance line is then maintained to prepare for terminal docking recovery adjustments;finally,the data obtained by the visual sensor and inertial navigation sensor is filtered and fused to calculate the recovery guidance line,which is then transmitted to the USV.The USV completes the tracking of the terminal guidance line and docking recovery task through its own guidance and control systems.A USV docking recovery system is simultaneously designed on the basis of visual and integrated navigation fusion,the hardware and software of the real boat is independently designed,and lake field tests are conducted to verify the feasibility of the system design and docking strategy.[Results]The experimental results show that the success rate of the USV in performing autonomous docking tasks reaches 91.6%.The proposed docking strategy can meet the high-precision docking and recovery requirements of USVs.[Conclusions]The findings of this study can provide critical technical support for USV recovery operations.

关 键 词：无人艇 对接回收 视觉导引 实艇验证 

分 类 号：U662.2[交通运输工程—船舶及航道工程]