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在GPS接收机产生机动时,运动模型的不匹配会给跟踪算法带来性能损失。本文提出一种机动检测、Unscented Kalman Filter(UKF)以及总体最小二乘(Total Least Square,TLS)相结合的解算方法用于接收机机动的GPS跟踪解算。首先,通过机动检测算法对目标的机动性进行判别,当目标机动较小时,利用UKF的最优检测性能进行跟踪,而当目标机动较大时,结合TLS的强跟踪性能,采用TLS和UKF联合进行跟踪。从而,在不增加方程维数的情况下,实现机动目标的实时、快速跟踪。仿真结果表明该方法对机动目标具有良好的跟踪性能。 相似文献
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The present investigation focuses on the effects of the stern appendages and the propulsion system on the hydro-loads generated by the propeller during off-design conditions, with particular emphasis on the in-plane components. Recent experimental investigations carried out by free running model tests [7], [8] and CFD analysis [5] for a modern twin screw model, highlighted that maneuvers at small drift angles and yaw rates might be as critical as the tighter ones due to complex propeller-wake interactions. Therefore, design criteria should take into account also these operative conditions, in order to reduce the effects of propeller-wake interaction phenomena that degrade the overall propulsive efficiency, induce shaft/hull structural vibration and increase noise emission. In the present study we analyze the effects of geometric and propulsive modifications with respect to the twin screw configuration studied in [5]. In particular, the effect of the centreline skeg, propeller direction of rotation and control strategies of the propulsion plant on the propeller bearing loads have been investigated from the analysis of the nominal wake in maneuvring conditions, computed by unsteady RANSE simulations coupled with a propeller model based on Blade Element Theory. The considered test cases were turning circle maneuvers with different rudder angles at FN = 0.265. 相似文献
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Maneuvering modeling and simulation of AUV dynamic systems with Euler-Rodriguez quaternion method 总被引：1，自引：0，他引：1
The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles (AUVs) at the preliminary design stages in advance. The AUVs simulation systems based on the standard submarine equations of motion in six-degree-of-freedom (6-DOF) integrated with the Euler-Rodriguez quaternion method for representing singularity-free AUV attitude and time-saving calculation, and with a nonlinear control model for maneuvering and depth control simulations, time-marching in the fourth-order Runge-Kutta scheme. For validation of the simulation codes, results of the ISiMI AUV open-loop tests including turning test and zigzag test as well as an AUV simulator on the basis of Euler-angle method were used to compare with the quaternion-based AUV simulator. The computational results from the proposed simulator agree well with those from both the ISiMI AUV experiments and the Euler-angle based simulations. Additionally, a new maneuvering procedure, namely "put-out" was implemented to test directional stability for a large-scale AUV in the proposed AUV simulator that can be considered for vehicles in space as well as in constrained planes. 相似文献
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This documentation presents the parametric identification modeling of ship maneuvering motion with integral sample structure for identification (ISSI) and Euler sample structure for identification (ESSI) based on least square support vector machines (LS-SVM), where ISSI is used for the construction of in–out sample pairs. By using Mariner Class Vessel, the sample dataset are obtained from 15°/15° zigzag maneuvering simulation based on Abkowitz model. By analyzing the simulation data including rudder angle, surge velocity, sway velocity, yaw rate and so forth, the hydrodynamic derivatives in Abkowitz model are all identified. The validation of the proposed identification algorithm is verified by the high precisions of the identified hydrodynamic derivatives and maneuvering prediction results. The comparison is also conducted between the proposed ISSI and the conventional Euler sample structure for identification (ESSI), and the experimental results shows that ISSI is much more appropriate for parametric identification modeling of ship maneuvering motion. 相似文献
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Collision at sea is always a significant issue affecting the safety of ship navigation. The shipborne autonomous collision avoidance system (SACAS) has the great advantage to minimize collision accidents in ship navigation. A parallel trajectory planning architecture is proposed in this paper for SACAS system. The fully-coupled deliberative planner based on the modified RRT algorithm is developed to search for optimal global trajectory in a low re-planning frequency. The fully-coupled reactive planner based on the modified DW algorithm is developed to generate the optimal local trajectory in a high re-planning frequency to counteract the unexpected behavior of dynamic obstacles in the vicinity of the vessel. The obstacle constraints, ship maneuvering constraints, COLREGs rules, trajectory optimality, and real-time requirements are satisfied simultaneously in both global and local planning to ensure the collision-free optimal navigation in compliance with COLREGs rules. The on-water tests of a trimaran model equipped with a model-scale SACAS system are presented to demonstrate the effectiveness and efficiency of the proposed algorithm. The good balance between the computational efficiency and trajectory optimality is achieved in parallel trajectory planning. 相似文献
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Results of experimental study of aerodynamic forces acting on two ship models are presented and discussed in this paper. Measurements have been performed in a wind tunnel utilizing floating LNG platform and LNG carrier models. Tests were carried out for different cases of the position and location of the models, starting from testing single models at full range of flow attack angles and finishing with investigation of interaction effects between two vessels in wind condition. Results are presented in the graphical form of the plots for the surge and sway force and yaw moment coefficients and compared with some other experimental data and estimates obtained with the help of a generic approximate method. 相似文献
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Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering. 相似文献
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通过对东京水产大学研究练习船“神鹰丸”的航速、主机转速、功率及排放废气的测定，得出在各种常用工况下NOx的排放率曲线、等船速曲线和燃油消耗率曲线。分析比较确定NOx的排出率较低，燃油消耗率又不超过规定标准的工况点，从而达到主机优化操纵的目的。结果表明，在自由航行工况下船舶航速为4、8、12、13kn时，主机转速应设定在750r/min；航速为10kn时，应设定在875r/min。拖网及延绳钓作业工况下主机转速应设定在875r/min。 相似文献
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通过对东京水产大学研究练习船－神鹰丸主机转速、功率，以及排废气的测定，优化渔船主机操纵主机可以使船舶在各种航行工况下主机NOx的排放率达到最低值。结果表明，当船舶航速为4节时，主机转速应设定在750转／分，此时NOx的排放率最低为10．3g/kWh，比常规操纵减少9％；当船舶航速为8节时，主机转速应设定在750转／分，此时NOx的排放率最低为10．5g/kWh，比常规操纵减少4．6％；当船舶航速为10节时，主机转速应设定在875转／分，此时NOx的排放率最低为11．6g/kWh，比常规操纵减少1．7％；当船舶航速为12节时，主机转速应设定在750转／分，此时NOx的排放率最低为12．5g/kWh，比常规操纵减少6％；当船舶航速为13节时，主机转速应设定在750转／分，此时NOx的排放率最低为12g/kWh，比常规操纵减少3．2％。在拖网作业过程中，船舶航速为4节，主机转速应设定在875转分，此时NOx的拓放率最低为12．3g/kWh，比常规操纵减少2．8％。在延绳钓作业过程中，船舶航速为10节，主机转速应设定在875转／分，此时NOx的排放率最低为11．5g/kWh,比常规操纵减少1．7％。 相似文献
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潜艇操纵控制方法的现状与发展 总被引：5，自引：1，他引：4
在大量相关文献的基础上,对潜艇空间机动中出现的非线性、两平面运动间的强耦合、参数的时变特性以及近水面时的定深控制等潜艇操纵控制的难点问题及其处理方法进行了分析、探讨和综述。 相似文献
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