无人海洋可控探测平台的智能观测技术
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摘要
无人海洋可控探测平台是指一类可控制、可扩展、运动的海洋传感器集成观测平台,其以脐带牵引、遥控、半自主和完全自主等不同方式运行,逐渐成为一种现阶段海洋观测的常用工具之一,也是未来支撑平台智能观测方式的一类重要载体。
目前无人海洋可控探测平台的应用,大部分还需要人工参与制定海洋观测的相关参数,如采样频率、间隔等。所以针对这类平台的智能观测策略,即如何将“被动观测”升级为“主动观测”,是制约其未来应用和提升其观测能力的重要因素。按平台数目简单区分,其智能观测可以划分为单平台的自适应观测和多平台的协作观测。目前,单平台的观测常常因测量覆盖面积小,而无法完成一些自主的观测任务。对于多平台的协作观测,无论是编队控制,还是协作测量,其相关理论的建立都是目前的热点和难点。
本文依托两种无人海洋可控探测平台——无人自动表面船和拖曳系统,开展其智能观测研究,主要包括无人自动表面船的研制,单拖曳系统与单自动表面船的自适应观测和多表面船的协作观测。本文的主要贡献如下,
(1)研制了一套无人表面船水深测量系统(Unmanned Surface Bathymetry vehicle, USBv),作为本论文智能观测的基础研究平台之一。开展其水动力模型研究,通过与湖试、海试数据对比,验证了模型的直航、转弯运动特性。在此基础上,针对其矢量推进方式,完成了其自动控制功能,包括速度与航向反馈控制、位点跟踪,为其智能观测提供基础功能。
(2)单平台的自适应观测:基于拖曳系统的水动力模型,利用拖曳系统的定深和剖面运动数据,构建了拖曳系统的半分析(半解析)运动模型,并用于自适应等温层追踪研究;基于前面建立的USBv水动力模型,使用振荡运动方式,开展其自适应等深线追踪研究。
(3)多平台的协作观测:引入一种变速度的自推进粒子模型,通过设置航向和速度控制律,实现了沿轴向、沿运动方向和等距离沿运动方向的三种空间同步平行编队,并证明了相应控制律的收敛性,以此开展多表面船的协作编队。引用一种基于径向基函数回归观测场的方法,以平行编队方式开展多表面船的追踪水深极值区域的协作观测研究。
The unmanned marine controllalbe exploring vehicle is a class of integrated observing vehicle which can be controlled, extended and can move flexibly. They can be used as towed, manual, semi-autonomous and absolutely autonomous mode, which have been one of the usual ocean observing facilities, and the kind of these vehicles will be one of the most important vehicles for the future way of intelligent observation.
Now the applications of the unmanned marine controllable exploring vehicle are usually used by manual mode to design the corresponding parameters for ocean observation, such as sampling frequency, interval and so on. So the intelligent observing strategy for these vehicles, and how to change“passtive observing”to“positive observing”, will be the important factor to restrict their application and improvement for their observing abilities. According to the vehicles’number, the ocean intelligent observation can be simply composed by a single vehicle’s adaptive observing and muti-vehicles cooperative observing. Since the coverage area of of a single vehicle’s adaptive observation was often small, and it could’t finish some autonomous observation. For muti-vehicles cooperative observing, not only formation control, but also cooperative measurement, the construction of corresponding theory is the hotspot and diffculty now.
The research of intelligent observation is developed based on two kinds of the unmanned marine controllable exploring vehicles-Unmanned Surface Vehicle and Towed System, which contains USV’s construction, the adaptive observing of a towed system and an USBv, and cooperative observing of muti-USVs. Our contributions are as following,
(1) An Unmaned Surface Bathymetry vehicle (USBv) is developed as one of basic vehicles for our intelligent observing. The USBv’s hydrodynamic model is developed and validated by contrasting with lake and sea trials which contain straight line’s movement and turning movement. Based on the result, some autonomous control charecters are completed using its vector propelled mode, such as velocity and heading control, waypoints tracking, which can supply the basis abilities for its intelligent observing.
(2) A single vehicle’s adaptive observation: Based on the hydrodynamic model of towed system, the semi-analysis model is developed using its fixed depth and profile motion’s data, which is used in the isothermal layer’s adaptive tracking’s research; Based on the USBv’s hydrodynamic model, the oscillating motion is used in USBv’s adaptive isobath tracking.
(3) The muti-vehicles’cooperative observing: An self-propelled particles’model for variable velocities is introduced, and three spacial synchrony parallel formations are developed by designing the heading and velocity control laws, and its convergence is proved, which are used in muti-USBv’s cooperative formation. The regressing method for observing field based on radial basis function is introduced for muti-USBv to observe the extremum area in the depth field.
目前无人海洋可控探测平台的应用,大部分还需要人工参与制定海洋观测的相关参数,如采样频率、间隔等。所以针对这类平台的智能观测策略,即如何将“被动观测”升级为“主动观测”,是制约其未来应用和提升其观测能力的重要因素。按平台数目简单区分,其智能观测可以划分为单平台的自适应观测和多平台的协作观测。目前,单平台的观测常常因测量覆盖面积小,而无法完成一些自主的观测任务。对于多平台的协作观测,无论是编队控制,还是协作测量,其相关理论的建立都是目前的热点和难点。
本文依托两种无人海洋可控探测平台——无人自动表面船和拖曳系统,开展其智能观测研究,主要包括无人自动表面船的研制,单拖曳系统与单自动表面船的自适应观测和多表面船的协作观测。本文的主要贡献如下,
(1)研制了一套无人表面船水深测量系统(Unmanned Surface Bathymetry vehicle, USBv),作为本论文智能观测的基础研究平台之一。开展其水动力模型研究,通过与湖试、海试数据对比,验证了模型的直航、转弯运动特性。在此基础上,针对其矢量推进方式,完成了其自动控制功能,包括速度与航向反馈控制、位点跟踪,为其智能观测提供基础功能。
(2)单平台的自适应观测:基于拖曳系统的水动力模型,利用拖曳系统的定深和剖面运动数据,构建了拖曳系统的半分析(半解析)运动模型,并用于自适应等温层追踪研究;基于前面建立的USBv水动力模型,使用振荡运动方式,开展其自适应等深线追踪研究。
(3)多平台的协作观测:引入一种变速度的自推进粒子模型,通过设置航向和速度控制律,实现了沿轴向、沿运动方向和等距离沿运动方向的三种空间同步平行编队,并证明了相应控制律的收敛性,以此开展多表面船的协作编队。引用一种基于径向基函数回归观测场的方法,以平行编队方式开展多表面船的追踪水深极值区域的协作观测研究。
The unmanned marine controllalbe exploring vehicle is a class of integrated observing vehicle which can be controlled, extended and can move flexibly. They can be used as towed, manual, semi-autonomous and absolutely autonomous mode, which have been one of the usual ocean observing facilities, and the kind of these vehicles will be one of the most important vehicles for the future way of intelligent observation.
Now the applications of the unmanned marine controllable exploring vehicle are usually used by manual mode to design the corresponding parameters for ocean observation, such as sampling frequency, interval and so on. So the intelligent observing strategy for these vehicles, and how to change“passtive observing”to“positive observing”, will be the important factor to restrict their application and improvement for their observing abilities. According to the vehicles’number, the ocean intelligent observation can be simply composed by a single vehicle’s adaptive observing and muti-vehicles cooperative observing. Since the coverage area of of a single vehicle’s adaptive observation was often small, and it could’t finish some autonomous observation. For muti-vehicles cooperative observing, not only formation control, but also cooperative measurement, the construction of corresponding theory is the hotspot and diffculty now.
The research of intelligent observation is developed based on two kinds of the unmanned marine controllable exploring vehicles-Unmanned Surface Vehicle and Towed System, which contains USV’s construction, the adaptive observing of a towed system and an USBv, and cooperative observing of muti-USVs. Our contributions are as following,
(1) An Unmaned Surface Bathymetry vehicle (USBv) is developed as one of basic vehicles for our intelligent observing. The USBv’s hydrodynamic model is developed and validated by contrasting with lake and sea trials which contain straight line’s movement and turning movement. Based on the result, some autonomous control charecters are completed using its vector propelled mode, such as velocity and heading control, waypoints tracking, which can supply the basis abilities for its intelligent observing.
(2) A single vehicle’s adaptive observation: Based on the hydrodynamic model of towed system, the semi-analysis model is developed using its fixed depth and profile motion’s data, which is used in the isothermal layer’s adaptive tracking’s research; Based on the USBv’s hydrodynamic model, the oscillating motion is used in USBv’s adaptive isobath tracking.
(3) The muti-vehicles’cooperative observing: An self-propelled particles’model for variable velocities is introduced, and three spacial synchrony parallel formations are developed by designing the heading and velocity control laws, and its convergence is proved, which are used in muti-USBv’s cooperative formation. The regressing method for observing field based on radial basis function is introduced for muti-USBv to observe the extremum area in the depth field.
引文
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