In today's ocean and inland navigation, the role of unmanned ships is becoming more and more prominent. It integrates intelligent control, remote communication, underwater detection, water surface troubleshooting and other functions in one of its complex and high-risk working environments. The advantages are becoming more and more obvious.
The core part of the surface unmanned ship is its autonomous navigation control system, and its performance advantage directly affects the working effect of the unmanned ship. In the control system, the advantages of positioning and attitude sensors are extremely obvious; just like the world of drones in the world, since the drones opened up in the consumer field, more and more homogenized products have been the improvement of various performances is mainly due to the rise of high-precision navigation drones. The application of this drone to the inertial navigation system has also emerged. Unmanned ships have also slowly increased the application of combined inertial navigation.
The unmanned ship is equipped with satellite positioning systems, attitude sensors, cameras, water depth gauges, temperature and salinity sensors, and other equipment. The satellite positioning system GPS/Beidou can determine the position of the unmanned ship and track it in real time. The attitude sensor is also called the inertial navigation device, which can measure the heading, roll and pitch of the hull autonomously; the camera obtains the underwater water in real time. The video information is transmitted to the monitoring point through the communication device to ensure the safety of navigation; the water depth measuring instrument can obtain high-precision underwater terrain; the temperature and salinity sensor can measure the surface temperature and salinity by recording and storing, and can obtain high precision. Hydrological data.
When the unmanned ship installed the satellite positioning device separately from the attitude sensing device, on the one hand, the installation space of the device was enlarged, and on the other hand, the matching between the satellite navigation and the inertial navigation was not perfectly integrated, and the accuracy of the attitude sensor was not high. In addition, it also greatly affects the autonomous navigation of unmanned ships. Since the advent of integrated navigation systems, unmanned vessels have become more integrated in terms of positioning, attitude, and sounding, which is more conducive to the development of the unmanned shipbuilding industry.
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