无人艇-机协同定位起降关键技术与验证

郑兵; 董超; 刘涵; 熊俊峰; 黄朝雄

doi:10.11993/j.issn.2096-3920.2024-0026

无人艇-机协同定位起降关键技术与验证

doi: 10.11993/j.issn.2096-3920.2024-0026

郑兵^{1, 2, 3,},
董超^{1, 2, ,},
刘涵^4,,
熊俊峰^5,,
黄朝雄^6,

1.
国家海洋局南海调查技术中心, 广东广州, 510300
2.
自然资源部海洋环境探测技术与应用重点实验室, 广东广州, 510300
3.
中山大学海洋工程与技术学院, 广东珠海, 519000
4.
珠海云洲智能科技股份有限公司, 广东珠海, 519080
5.
广州工业智能研究院, 广东广州, 510000
6.
中国科学院沈阳自动化研究所, 辽宁沈阳, 110034

基金项目: 自然资源部海洋环境探测技术与应用重点实验室自主设立课题 (MESTA-2021-C004); 广东省重点领域研发计划项目(2020B1111010002).

详细信息

通讯作者:
董　超(1982-), 男, 博士, 研究员, 研究方向为海洋智能装备

中图分类号: U674
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- 被引次数: 0
出版历程
- 收稿日期: 2024-02-20
- 修回日期: 2024-03-24
- 录用日期: 2024-03-26
- 网络出版日期: 2024-04-13

Key Technologies and Verification of Cooperative Positioning Take-off and Landing for USVs and UAVs

ZHENG Bing^{1, 2, 3
,},
Dong Chao^{1, 2
, ,},
LIU Han^4
,,
XIONG Junfeng^5
,,
HUANG Chaoxiong^6
,

1.
China South China Sea Marine Survey and Technology Center, State Oceanic Administration, Guangzhou 510300, China
2.
Key Laboratory of Marine Environmental Survey Technology and Application, Ministry of Natural Resources, Guangzhou 510300, China
3.
School of Marine Engineering and Technology, Sun Yat-sen University, Zhuhai 519000, China
4.
Zhuhai Yunzhou Intelligence Technology Co. Ltd, Zhuhai 519080, China
5.
Guangzhou Institute of Industrial Intelligence, Guangzhou 510000, China
6.
Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110034, China

摘要

摘要: 无人艇(USV)单平台执行水面任务易受平台限制, 构建无人艇-机跨平台系统能实现平台优势互补。文章通过研究无人艇-机起降及补能技术, 实现无人艇-机持久协同作业。首先, 针对无人机(UAV)在动态USV上起降问题, 开展无人艇-机协同定位起降技术研究, 研究了无人艇-机速度、位置状态信息动态更新模型, 实现了UAV在USV端高精度的起降; 其次, 针对UAV续航时间短的问题, 开展UAV在USV端补能研究, 研究了UAV端起降机构和USV端充电网机构, 实现了UAV着艇快速补能; 最后, 在海面验证该无人艇-机跨平台起降补能系统性能, 试验结果中, 无人艇-机系统能在3.0 m/s的高速运动状态下, 实现UAV在USV端的成功降落和补能, 满足海上无人艇-机跨平台系统执行任务场景的需求。
- 无人艇 /
- 无人机 /
- 跨平台 /
- 起降 /
- 补能
Abstract: An unmanned surface vessel(USV) single-platform is easily restricted by the platform during surface mission execution, and the construction of a cross-platform system for USVs and unmanned aerial vehicles(UAVs) can realize the complementary advantages of the platform. In this paper, the take-off and landing and energy replenishment technologies of USVs and UAVs were studied to realize the enduring cooperative operation of USVs and UAVs. Firstly, for the problem of UAV taking off and landing on dynamic USVs, the research on cooperative positioning take-off and landing technologies for USVs and UAVs was carried out, and the dynamic update model of speed and position information of USVs and UAVs was studied, realizing high-precision take-off and landing of UAVs at the USV end. Secondly, to address the problem of the short endurance time of UAVs, the research on UAV replenishment at the USV end was carried out, and the take-off and landing mechanism at the UAV end and the charging mechanism at the USV end were investigated to realize the rapid replenishment of UAVs landing on the USV. Finally, the performance of the cross-platform take-off and landing and energy replenishment system for USVs and UAVs was verified at sea. In the test, UAVs could land at the USV end and get energy replenished at the high-speed movement of 3.0 m/s of the USV-UAV system, meeting the demand of cross-platform mission execution by USVs and UAVs at sea.
- unmanned surface vessel /
- unmanned aerial vehicle /
- cross-platform /
- take-off and landing /
- energy replenishment

HTML全文

图 1 无人艇与无人机平台

Figure 1. USV and UAV platforms

下载: 全尺寸图片幻灯片

图 2 无人机起飞流程图

Figure 2. Flowchart of UAV takeoff

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图 3 起落机构组成

Figure 3. Composition of landing mechanism

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图 4 充电网结构组成

Figure 4. Composition of charging network structure

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图 5 无人机辅助降落补能流程

Figure 5. Flowchart of UAV assisted landing charging

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图 6 起降机构锁死状态

Figure 6. Locked status of lifting and lowering mechanism

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图 7 无人艇-机跨域协同通信链路

Figure 7. Communication link between USV and UAV

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图 8 无人艇-机起降验证

Figure 8. Landing and takeoff validation of USV and UAV

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图 9 无人机相对无人艇飞行高度

Figure 9. Flight height of UAV relative to USV

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表 1 无人艇技术指标

Table 1. Technical specifications of the USV

名称	参数性能
尺寸	长7.5 m, 宽2.8 m
满载吃水深度	≤0.5 m(至载荷底部)
设计排水量	≤2.5 t
搭载能力	≥200 kg
工作速度	5~6 kn
最大平均航速	≥12 kn
工作续航时间	20 h(工作航速)
通信性能	宽带≥15 km, 8 Mbit/s
布放回收	3级海况下, 人员无须登艇实现

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表 2 无人机技术指标

Table 2. Technical specifications of the UAV

名称	参数性能
载荷	≥3 kg
巡航速度	≥25 km/h
续航时间	≥20 min
抗风能力	5级
防水等级	≥IPX3
悬停精度	4级风速下, 水平悬停航迹控制精度优于0.5 m, 垂直悬停航迹控制精度优于0.5 m

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