CN115129040A - Unmanned ship formation control system and control method thereof - Google Patents
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Abstract
The invention relates to an unmanned boat formation control system and a control method thereof, wherein the unmanned boat formation control system comprises a central station monitoring layer, a formation information interaction layer and a formation member layer, the central station monitoring layer carries out information interaction with the formation member layer through the formation information interaction layer, and each member in the formation member layer carries out information interaction through the formation information interaction layer; the functions of simultaneously or independently controlling one or more unmanned boats by one set of central monitoring station or a plurality of sets of central monitoring stations are realized, one-to-one control, one-to-many control and many-to-many control functions can be realized, and the monitoring of each member boat in formation can be realized by a plurality of control centers. Meanwhile, the invention improves the data integration and sharing capability by an omnibearing and multidimensional three-dimensional data platform, combines geographical environment data such as electronic charts and the like and marine environment information such as stormy waves and currents and the like, comprehensively considers the characteristics of ships, and intelligently selects the optimal working mode and the control mode meeting the task operation requirements, thereby ensuring stable and reliable formation navigation.
Description
Technical Field
The invention belongs to the technical field of unmanned ship cluster control, and particularly relates to an unmanned ship formation control system and a control method thereof.
Background
Facing to the increasingly complex combat environment, the function of a single unmanned boat is often limited, the operation range of the unmanned boat is restricted due to the quality and quantity of the onboard sensors and equipment carried by the unmanned boat, and the function of the unmanned boat can be very powerful in a certain aspect but cannot meet the requirements of informatization and networking in the modern battlefield. Therefore, a single unmanned ship not only needs to independently execute tasks in all self capacity ranges, but also needs to jointly execute the tasks with other unmanned ships under the conditions of complex operation environment and huge operation amount, the multi-ship combined operation enlarges the monitoring range of a water area, detects targets from multiple directions and multiple angles, improves the discovery probability of potential targets and threats, and makes maneuvering response in advance to deal with the threats. Compared with a single boat and the joint operation of multiple unmanned boats, the overall efficiency is greatly improved from the aspects of operation and tasks.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an unmanned ship formation control system and a control method thereof, which can be compatible with unmanned ships of the same type and different types, and support the functions of expansion, information interaction, formation shape, distribution and the like of formation members.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a control system for formation of unmanned boats comprises a central station monitoring layer, a formation information interaction layer and a formation member layer, wherein the central station monitoring layer carries out information interaction with the formation member layer through the formation information interaction layer, and each member in the formation member layer carries out information interaction through the formation information interaction layer; the central station monitoring layer comprises a plurality of central monitoring stations, the central station monitoring layer is used for controlling all members in the formation member layer in a one-to-one, one-to-many and many-to-many mode according to the use scene, and the formation information interaction layer is used for transmitting control instructions issued by the central station monitoring layer to the formation member layer and realizing information interaction among all members in the formation member layer.
Moreover, the central station monitoring layer needs to construct a data communication protocol, construct a monitoring process of the central station monitoring layer, configure an information service unit and configure communication equipment;
the data communication protocol adopts uniform constraint conditions, a check mode and information identification, distinguishes the source of information according to member numbers in the data communication protocol, distinguishes the serial number of an information unit, the identification of the information unit, the information length, the check and tail bytes of the information unit, judges the validity of data and realizes the filtration of error information;
the monitoring process of the central station monitoring layer can realize the distribution management of the control instructions of all the members of the formation and can monitor the sub-numbers of the feedback information of all the members of the formation;
the information service unit is configured on a central station monitoring layer and a formation member layer and is used for managing the destination of information transmission and the receiving source of information in the information interaction process;
the communication equipment supports the ad hoc network function, and can establish a local area network for each formation member and the central monitoring station, so that information interaction between the formation members and the central monitoring station is realized.
Moreover, the communication channel of the formation information interaction layer is: satellite communication, data transfer radio station communication, ad hoc network microwave radio station communication and Beidou first-generation communication.
Moreover, the communication channel selection priority is: the satellite communication, the ad hoc network microwave radio station communication, the data transmission radio station communication and the Beidou I communication can automatically switch to the next priority communication channel when a communication channel link with high priority is not communicated, and the transmission data volume is synchronously adjusted.
Moreover, the usage scenario includes: the formation navigation in the visual distance range and the remote formation navigation in the non-visual distance range adopt satellite communication and an ad hoc network microwave radio station as main communication links, and other communication channels are used as emergency communication links to realize the formation navigation; the formation navigation in the non-line-of-sight range only adopts satellite communication as a main communication link, and the first generation of BeiDou is used as an auxiliary communication link to realize the formation navigation.
And the formation member layer is a formation formed by a plurality of unmanned ships, each formation member is regarded as an independent individual, the independent individual completes respective information interaction inside the independent individual, and the formation member layer has the functions of storing, replaying and inquiring control instruction information, state information, environment information, alarm information, collision avoidance radar target information and air route monitoring videos.
And the information interaction comprises task scheme information, navigation state information, remote control equipment instruction information, equipment state monitoring information, weather perception information, target motion state information, video information and radar echo information.
A control method of an unmanned ship formation control system comprises the following steps:
step 2, the system regularly judges the mechanism of the effectiveness of the receiving and dispatching statements through the mutual transmission response message, monitors the communication state of each communication link, adopts a set communication priority channel, and regularly sends the bound information to a formation information interaction layer through a plurality of unmanned naval vessels of a formation member layer through an effective communication channel;
step 3, the central station monitoring layer receives and displays the formation member information shared by the formation information interaction layer at regular time, so that the monitoring of the formation member information is realized; meanwhile, the information from the central station monitoring layer instruction to the formation member layer is in a trigger type sending form, and when the central station monitoring layer needs to issue a task instruction, a control instruction or a parameter configuration instruction, the central station monitoring layer information service unit binds according to a data communication protocol format;
step 4, the central station monitoring layer transmits the bound information instruction to the formation information interaction layer, and the formation information interaction layer screens the numbers of the formation members in the information instruction and sends the numbers to the corresponding formation members through the communication channel in the step 2;
and 5, the formation member receives the instruction information issued in the step 3, completes corresponding control response and feeds back the response information to the central station monitoring layer.
The invention has the advantages and positive effects that:
1. the invention comprises a central station monitoring layer, a formation information interaction layer and a formation member layer, wherein the central station monitoring layer carries out information interaction with the formation member layer through the formation information interaction layer, and each member in the formation member layer carries out information interaction through the formation information interaction layer; the functions of simultaneously or independently controlling one or more unmanned boats by one set of central monitoring station or a plurality of sets of central monitoring stations are realized, one-to-one control, one-to-many control and many-to-many control functions can be realized, and the monitoring of each member boat in formation can be realized by a plurality of control centers. Meanwhile, the invention improves the data integration and sharing capability by using an omnibearing and multidimensional stereo data platform, combines geographical environment data such as electronic charts and the like and marine environment information such as stormy waves and currents, comprehensively considers the ship characteristics, intelligently selects an optimal working mode and an operation mode meeting the task operation requirements, and ensures stable and reliable formation navigation. The invention has been verified in real boat formation control, and verifies the feasibility of unmanned system cluster and cooperative combat concepts from multiple angles, and preliminarily solves the key technical problems of formation maneuvering, autonomous control and task management, information sharing, cross-domain communication control and the like closely related to unmanned system cluster and cooperative combat.
2. The three-layer structure can support formation formed by at least 8 unmanned boats, is compatible with the unmanned boats of the same type or different types, and supports members in the formation to withdraw from and join in at any time.
3. The communication modes of the formation information interaction layer comprise satellite communication, microwave communication, data transmission radio station communication and Beidou short-wave message communication, and the communication layer has the functions of automatic connection of a communication link, state self-checking, overtime judgment, interruption recovery and the like, can automatically or manually switch the communication link when a communication channel link with high priority is not communicated, and can automatically bind corresponding data packets for transmission.
Drawings
FIG. 1 is a schematic diagram of the formation control system of the present invention;
FIG. 2 is a schematic diagram of the system framework of the present invention;
FIG. 3 is a topological diagram of the control mode of the system of the present invention;
FIG. 4 is a schematic diagram of the formation information monitoring software interface layout of the present invention;
FIG. 5 is a schematic diagram of a newly created mission route according to the present invention;
FIG. 6 is a schematic diagram of the central station monitoring apparatus of the present invention;
FIG. 7 is a diagram of the formation information interaction topology of the present invention;
FIG. 8 is a software screenshot of a formation control capability test of the present invention;
fig. 9 is a top view of the formation real ship of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
An unmanned ship formation control system is shown in figures 1 and 2 and comprises a central station monitoring layer, a formation information interaction layer and a formation member layer, wherein the central station monitoring layer is used as a unique interaction path between an operator and the formation member layer and comprises a ground central station and a mother ship control station, the formation member control system can control formation through the ground central station and can also realize the monitoring of formation members through the mother ship control station, and the unmanned ship formation control system has one-to-one control, one-to-many control and many-to-many control functions; the formation information interaction layer is used as a central station monitoring layer and a formation member layer information transmission junction, and information interaction among the formation members and between the formation members and the central monitoring station is realized through a communication channel; the formation member layer takes each formation member as an independent individual, the independent individual completes respective information interaction inside, and the outside realizes information interaction among the members and between the members and the central monitoring station through satellite communication or communication radio stations.
Wherein, the topological diagram of the system control mode is shown in fig. 3, and has functions of one-to-one control, one-to-many control, and many-to-many control, the topological diagram of the system control mode is shown in fig. 3, fig. 3-a is a one-to-one control mode, which is single boat control, the system architecture selects a communication link according to a use scene and system configuration, and can simultaneously support one or more communication modes; 3-b, 3-c and 3-d are a one-to-many control manner, wherein the visual distance ranges are set between the members in the formation in FIG. 3-b and between the members in the formation and the central monitoring station, and the system communication adopts an ad-hoc network microwave radio station to realize the information interaction between the central monitoring layer and the formation member layer; 3-c is a single formation and 3-d is a double formation, the formation members are in a line-of-sight range, the formation members and the central monitoring station are in a non-line-of-sight range, the pilots of the formation members are used as relays to complete information interaction between the formation members through an ad hoc network microwave radio station, and then the information is converged to realize the information interaction with the central monitoring station through satellite communication; fig. 3-e shows a many-to-many control mode, in which the central stations are respectively located on the mother ship and the shore base, the mother ship and the formation maintain the range of visual distance, the information interaction between the central station of the mother ship and the formation members is realized by using an ad hoc network microwave radio, the shore base and the formation members are not limited by distance, and the information interaction between the shore base central station and the formation members is realized by using satellite communication.
The system control mode is designed by the following four layers. Firstly, designing a data communication protocol, wherein the data communication protocol adopts a uniform constraint condition, a check mode, an information identifier and the like, the format of the communication protocol is shown in a table 1, the source of information is distinguished according to member numbers in the protocol, the validity of data is judged by distinguishing information unit serial numbers, information unit identifiers, information lengths, check sums and tail bytes, and filtering of error information is realized; secondly, designing monitoring software of a monitoring layer of the central station, wherein the interface layout of the information monitoring software is shown in figure 4, and the monitoring software supports the distribution management of control instructions of all members in the formation and the sub-numbering monitoring of feedback information of all members in the formation; the information service units of the central station monitoring layer are designed to be responsible for managing destinations of information transmission and receiving sources of information in the information interaction process, for example, taking a task airline as an example, as shown in fig. 5, the central station monitoring layer newly builds a task airline and issues the task airline to a designated formation member, the information service units of the central station monitoring layer are responsible for sending the task airline to the designated formation member according to a communication protocol format, the information service units of the formation member layer receive the task airline and then judge that the instructions of the boat are executed after being filtered, and the information service units are not executed if the instructions of the boat are not judged; and finally, designing communication equipment of an information interaction layer, wherein the communication equipment supports the ad hoc network function, and can establish a local area network for each formation member and the central monitoring station to realize information interaction between the formation member and the central monitoring station.
If the control function of the central station monitoring layer is one-to-one control, the information service unit of the central station monitoring layer only manages the control instructions and feedback information of 1 boat; if the system control mode is one-to-many control, the information service unit of the central station monitoring layer processes information from a plurality of formation members and control instructions from 1 central monitoring station, feeds back formation member feedback information to the central monitoring station, distinguishes member numbers of the control instructions of the central monitoring station and sends the instructions to corresponding formation members; if the system control mode is many-to-many control, the information service unit of the central station monitoring layer not only processes information from a plurality of formation members, but also processes control instructions from a plurality of central monitoring stations, and distinguishes member numbers to realize many-to-many control.
A central station monitoring layer, which is a unique interaction path between an operator and an unmanned ship group, is installed in a central control base station (including a sea-based base station, a shore-based base station, a space-based base station, and the like, and is called a central station for short), and as shown in fig. 6, comprises a central control device and a communication device; the central control equipment consists of a core processing module, input equipment, a simulation control device, display equipment and the like.
The central control equipment has the functions of integrating and operating central control software, and the software is based on the chart and supports the basic operation function of the chart; the AIS/radar fusion target list display and chart situation display functions; the method comprises the following steps of creating, editing, managing, issuing, executing and switching waypoints of a task route; monomer/formation mode switching function; collision avoidance tracking configuration and trail display function; a formation member information list display function; a course control function; a rudder angle control function; a task alarm prompt function and the like. Meanwhile, the system comprises formation information monitoring for monitoring the whole ship information of each member ship of the formation, and can control equipment such as an engine, a steering engine, a power station, a distribution board and the like, wherein the whole ship information comprises information such as navigation information, control information, power information, energy information, steering oar information, the distribution board and the like; the control instructions comprise instructions of starting and stopping of the engine/generator/rudder pump, power station control, power distribution panel control and the like.
The communication equipment comprises satellite communication, a microwave map radio station, a data radio station and a Beidou short message emergency communication means, and has the functions of automatic connection of a communication link, overtime judgment, interruption recovery and the like, and the priority of communication channel selection is as follows: the satellite communication system is more than microwave, more than a data transmission station and more than Beidou. When the communication channel link with high priority is not communicated, the next priority communication channel can be automatically switched, and the transmission data volume can be synchronously adjusted.
As shown in fig. 7, the formation information interaction layer central station monitoring layer and formation member layer information transmission hub implement data format conversion, so that the data generated by the central station monitoring layer or the formation member layer conforms to the communication transmission condition, and meets the interface requirement of the data application end. The system has the functions of automatic connection, state self-checking, overtime judgment, interruption recovery and the like of a communication link, and the communication link has the following selection priority: the satellite communication system is more than microwave, more than data transmission station and more than Beidou. When the communication channel link with high priority is not communicated, the communication link can be automatically/manually switched, and the corresponding data packet is automatically bound for sending; when the satellite-radio communication link and the microwave link are unobstructed, one-to-many control and many-to-many control function control can be carried out, and the rest links can only be controlled one-to-one.
The information interaction comprises task scheme information, navigation state information, remote control equipment instruction information, equipment state monitoring information, weather perception information, target motion state information, video information, radar echo information and the like.
Satellite communication and microwave communication are used as a main transmission channel for uploading key information of the unmanned ship platform and issuing a control command of the central control system, data transmission radio station communication is used as a data transmission auxiliary channel, and the data transmission radio station is used as an auxiliary channel only by starting a transmitting function when the main channel and the auxiliary channel are all invalid, so that the central control system can be ensured to continuously monitor the unmanned ship platform, real-time transmission of information can be ensured, and a guarantee is provided for safe navigation of the unmanned ship.
The formation member layer takes each formation member as an independent individual, completes respective information interaction in the independent individual, and has the functions of storing, replaying and inquiring control instruction information, state information, environment information, alarm information, collision avoidance radar target information and airway monitoring videos; the automatic data packet binding system is provided with the functions of displaying and switching communication channels, the switching function is automatically switched and manually switched according to the priority and the channel state, and data packets are bound according to the channel states: binding a simplified data packet under a Beidou channel, wherein the simplified data packet comprises control instructions (a vehicle and a rudder), navigation information (position, course and speed), a task scheme and basic states of main equipment (basic operation information of a host, a steering engine and a power supply system), and the data can be transmitted in a packet mode; binding a basic data packet under a data transmission radio channel, wherein the basic data packet comprises a simplified data packet, radar target position point information, all equipment state information and basic operation instructions; and binding a standard data packet under the microwave and satellite communication channel, wherein the standard data packet comprises a basic data packet, a radar video, AIS information and video monitoring information.
The unmanned ship formation control system formed by the central station monitoring layer, the formation information interaction layer and the formation member layer can obtain the core decision right and the comprehensive fault processing function in the unmanned ship, and the data integration and sharing capacity is improved by an omnibearing and multidimensional stereo data platform through a deep excavation business decision model, and the optimal working mode and the control mode meeting the task operation requirements are intelligently selected by comprehensively considering the ship characteristics in combination with geographical environment data such as an electronic chart and ocean environment information such as stormy waves and currents.
A control method of an unmanned ship formation control system comprises the following steps:
step 2, the system regularly judges the mechanism of the effectiveness of the receiving and dispatching statements through the mutual transmission response message, monitors the communication state of each communication link, adopts a set communication priority channel, and regularly sends the bound information to a formation information interaction layer through a plurality of unmanned naval vessels of a formation member layer through an effective communication channel;
step 3, the central station monitoring layer receives and displays the formation member information shared by the formation information interaction layer at regular time, so that the monitoring of the formation member information is realized; meanwhile, the information from the central station monitoring layer instruction to the formation member layer is in a trigger type sending form, and when the central station monitoring layer needs to issue a task instruction, a control instruction or a parameter configuration instruction, the central station monitoring layer information service unit binds according to a data communication protocol format;
step 4, the central station monitoring layer transmits the bound information instruction to the formation information interaction layer, and the formation information interaction layer screens the numbers of the formation members in the information instruction and sends the numbers to the corresponding formation members through the communication channel in the step 2;
and 5, the formation member receives the instruction information issued in the step 3, completes corresponding control response and feeds back the response information to the central station monitoring layer.
If the number of the real boats is limited by only 3, a sailing situation and an information monitoring screenshot of a formation formed by the 3 unmanned boats in the real boat sailing test process of the system monitoring software are given in a figure 8, and a plan view of a lake test certificate of the real boat formation is given in a figure 9.
It should be emphasized that the embodiments described herein are illustrative rather than restrictive, and thus the present invention is not limited to the embodiments described in the detailed description, but also includes other embodiments that can be derived from the technical solutions of the present invention by those skilled in the art.
Claims (8)
1. The utility model provides an unmanned ship formation control system which characterized in that: the system comprises a central station monitoring layer, a formation information interaction layer and a formation member layer, wherein the central station monitoring layer carries out information interaction with the formation member layer through the formation information interaction layer, and each member in the formation member layer carries out information interaction through the formation information interaction layer; the central station monitoring layer comprises a plurality of central monitoring stations, the central station monitoring layer is used for controlling members in the formation member layer in a one-to-one, one-to-many and many-to-many mode according to the use scene, and the formation information interaction layer is used for transmitting control instructions sent by the central station monitoring layer to the formation member layer and achieving information interaction among the members in the formation member layer.
2. The unmanned boat formation control system of claim 1, wherein: the central station monitoring layer needs to construct a data communication protocol, a monitoring process of the central station monitoring layer, a configuration information service unit and configuration communication equipment;
the data communication protocol adopts uniform constraint conditions, a check mode and information identification, distinguishes the source of information according to member numbers in the data communication protocol, distinguishes the serial number of an information unit, the identification of the information unit, the information length, the check and tail bytes of the information unit, judges the validity of data and realizes the filtration of error information;
the monitoring process of the central station monitoring layer can realize the distribution management of the control instructions of all members of the formation and can monitor the sub-numbers of the feedback information of all members of the formation;
the information service unit is configured on a central station monitoring layer and a formation member layer and is used for managing the destination of information transmission and the receiving source of information in the information interaction process;
the communication equipment supports the ad hoc network function, and can establish a local area network for each formation member and the central monitoring station, so that information interaction between the formation members and the central monitoring station is realized.
3. The unmanned boat formation control system of claim 1, wherein: the communication channel of the formation information interaction layer is as follows: satellite communication, data transmission radio station communication, ad hoc network microwave radio station communication and Beidou first-generation communication.
4. The unmanned boat formation control system of claim 3, wherein: the communication channel selection priority is: the satellite communication, the ad hoc network microwave radio station communication, the data transmission radio station communication and the Beidou first generation communication can automatically switch to the next priority communication channel when a communication channel link with high priority is not communicated, and synchronously adjust the data transmission quantity.
5. An unmanned boat formation control system according to claim 1 or 3, wherein: the usage scenario includes: the formation navigation in the visual distance range and the long-distance formation navigation in the non-visual distance range adopt satellite communication and an ad hoc network microwave radio station as a main communication link, and other communication channels are used as emergency communication links to realize the formation navigation; the formation navigation in the non-line-of-sight range only adopts satellite communication as a main communication link, and the Beidou I is used as an auxiliary communication link to realize formation navigation.
6. The unmanned boat formation control system of claim 1, wherein: the formation member layer is a formation formed by a plurality of unmanned ships, each formation member is regarded as an independent individual, the independent individuals complete respective information interaction, and the formation member layer has the functions of storing, replaying and inquiring control instruction information, state information, environment information, alarm information, collision-prevention radar target information and airway monitoring videos.
7. The unmanned boat formation control system of claim 1, wherein: the information interaction comprises task scheme information, navigation state information, remote control equipment instruction information, equipment state monitoring information, weather perception information, target motion state information, video information and radar echo information.
8. A control method of the unmanned boat formation control system according to any one of claims 1 to 7, comprising the steps of:
step 1, a plurality of unmanned naval vessels of a formation member layer receive navigation information, weather perception information, target information, video information and radar echo information from respective sensors and bind the information according to a data communication protocol format;
step 2, the system monitors the communication state of each communication link through a mechanism for regularly judging the effectiveness of the receiving and sending sentences through mutually transmitted response messages, and a plurality of unmanned naval vessels of the formation member layer regularly send the bound information to the formation information interaction layer through effective communication channels by adopting a set communication priority level channel;
step 3, the central station monitoring layer receives and displays the formation member information shared by the formation information interaction layer at regular time, so that the formation member information is monitored; meanwhile, the information from the central station monitoring layer instruction to the formation member layer is in a trigger type sending form, and when the central station monitoring layer needs to issue a task instruction, a control instruction or a parameter configuration instruction, the central station monitoring layer information service unit binds according to a data communication protocol format;
step 4, the central station monitoring layer transmits the bound information instruction to the formation information interaction layer, and the formation information interaction layer screens the numbers of the formation members in the information instruction and sends the numbers to the corresponding formation members through the communication channel in the step 2;
and 5, the formation member receives the instruction information issued in the step 3, completes corresponding control response and feeds back the response information to the central station monitoring layer.
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| CN115454104A (en) * | 2022-10-27 | 2022-12-09 | 南京长峰航天电子科技有限公司 | Unmanned ship control system and control method |
| CN115857490A (en) * | 2022-11-21 | 2023-03-28 | 中国人民解放军海军工程大学 | Modularized allopatric multi-base-station cooperative control system and method for unmanned surface vehicle |
| CN117579669A (en) * | 2023-11-29 | 2024-02-20 | 青岛映蓝科技有限公司 | Multi-channel control method and system for remote control unmanned ship |
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