Research On The Method Of Automatic Cruise Calculation For Unmanned Ships In Reservoir Storage

Reservoir is an important part of China's water conservancy project system,with functions such as flood control,irrigation and shipping.The storage capacity of the reservoir is called the reservoir capacity,that is,the volume below the water level.The monitoring of reservoir storage capacity is an important link to ensure the safety of the reservoir area,disaster warning and flood control,and it can also reflect the change of silt sedimentation at the bottom of the reservoir.It is an important guarantee for channel dredging and navigation safety.Because of the large area and complex environment of the reservoir,the traditional measurement methods have many problems,such as difficulty in implementation,low efficiency and low coverage.At present,the common storage capacity calculation methods such as the section method and the contour method have more constraints,and the calculation accuracy still has a large room for improvement.In response to these shortcomings,this paper studies the automatic cruise calculation method for unmanned vessels which independently researched and developed by the laboratory in reservoir storage.The main research work and innovations of the thesis are as follows:1.This paper studies the Delaunay triangulation method and proposes an improved method for the reservoir storage calculation field.It solves the problem of critical jump in Delaunay triangulation.The "perimeter-depth ratio" method is proposed to eliminate the triangular grid in the non-water area and reduce the error of the storage capacity calculation.2.Aiming at the shortcomings of low coverage and uneven distribution of sampling points,a triangle grid quality evaluation and additional points generation algorithm is proposed.It can generate the additional points in a targeted manner,and economically and efficiently improve the completeness of measured data and the accuracy of storage capacity measurement.3.An energy balance algorithm for automatic cruise path planning of multiple unmanned ships is proposed.Using the clustering algorithm to divide large-scale patch points into multiple small-scale clusters,which reduces the search time of the shortest cruise path.Moreover,the adjustment algorithm between clusters is proposed to achieve the design goal of energy balance of multiple unmanned ships.4.Base on the data come from NOAA,using simulation experiment to verify the correctness and feasibility of the methods.At the same time,the reliability of the unmanned ships detection system is also verified by the outdoor experiment.