摘要
为提升无人艇在浅水区和危险区等复杂水域开展专业化海道测量的应用能力,在广泛调研国内外同类型无人海道测量艇功能定位和设计要求的基础上,采用了一种优化后的M型艇型设计和油电混合动力,引入高精度惯导姿态定位系统提升姿态控制和避障能力,研发了基于电子海图的测量和导航一体化控制系统,并综合给出了一种适应浅水区测量和专业海道测量的无人海道测量艇的设计方案。实际应用表明该无人海道测量艇具有优良的水动力性能和水下噪声抑制能力,具备了适应多种环境的通信保障能力,实现了高精度的航行轨迹控制和自主避障,能够在复杂水域自主完成高精度测量任务,测量成果满足海道测量规范要求。本项研究为后续无人艇作为测量平台持续提升海道测量能力提供了借鉴和参考。
In order to improve the application ability of unmanned vessels to carry out hydrographic survey in complex waters such as shallow waters and hazardous areas,based on extensive research on the functional positioning and design requirements of the same type of unmanned hydrographic survey vessels at home and abroad,an optimized M-type design and hybrid structure are adopted,a high-precision inertial attitude positioning system is used to enhance attitude control and obstacle avoidance capability,and an integrated measurement and navigation control system based on electronic charts is developed.A design scheme for unmanned vessels adapted to shallow water area measurement and hydrographic survey is given.The results show that the unmanned hydrographic survey vessel has excellent hydrodynamic performance and underwater noise suppression,has the communication support ability to adapt to various environments,realizes the high-precision navigation track control and autonomous obstacle avoidance,can complete the high-precision measurement task autonomously in complex waters,and the measurement results meet the requirements of the hydrographic survey specification.This study provides references for the continuous improvement of hydrographic survey capability by subsequent unmanned vessels as surveying platforms.
作者
王华强
何开全
陈贵花
陈良
仝长亮
WANG Huaqiang;HE Kaiquan;CHEN Guihua;CHEN Liang;TONG Changliang(Guangzhou Hydrographic Center,Southern Navigation Service Center,MOT,Guangzhou 510320,China;Hainan Geology Detection and Research Centre,Haikou 570206,China;Marine Geological Institute of Hainan Province,Haikou 570206,China)
出处
《海洋测绘》
CSCD
北大核心
2022年第6期45-50,共6页
Hydrographic Surveying and Charting
基金
2022年海南省自然科学基金(422RC800)。
关键词
海道测量
无人艇
功能定位
设计要求
综合方案
hydrographic survey
unmanned vessel
functional positioning
design requirements
comprehensive design scheme
