Unmanned Surface Vessel Course Monitoring System Based On Data Visualization

The "13th Five-Year Plan" period is a critical period for in-depth adjustment of China's marine economic structure and the accelerated transformation of development mode.It is an important development opportunity for China to grasp the development opportunities brought about by the construction of "The Belt and Road" and ensure the sustained prosperity of marine technology and economy.With the continuous development of artificial intelligence,big data and cloud computing technologies,the level of ship automation has been continuously improved,and the development of various technologies of unmanned surface vessels has entered a new stage.As one of the key links,unmanned surface vessels monitoring technology directly affects the efficiency and safety of transportation.The application of ship monitoring technology meets the monitoring requirements of safe navigation of unmanned surface vessels.The main research content of this topic is unmanned surface vessel course monitoring system based on data visualization,which makes full use of small-scale unmanned surface vessel as the experimental platform.First,the closed-loop gain shaping algorithm is used to theoretically analyze and design the unmanned surface vessel course control module.Then,using virtual visualization technology and a cloud database architecture platform,unmanned surface vessel course monitoring system based on data visualization is designed to monitor it real-time course change.This paper summarizes the research work in the following aspects:(1)Aiming at the course feedback control module in the planning and control strategy of unmanned surface vessel,the robustness and stability of the course controller designed by the closed-loop gain shaping algorithm are analyzed by Lyapunov Stability Theory.It is proved that the L2 gain robustness of the control system is closely related to the controller parameters,and the value range of the controller parameters can be quantitatively solved.(2)Unmanned surface vessel course monitoring system based on data visualization is designed to realize real-time monitoring of the course changes and other navigation status information.The system consists of two parts:the onboard control system and the shore based control center,the real-time serial data of sensors of unmanned surface vessel are obtained by the onboard control system,and the processed data are uploaded to Aliyun database for storage through serial port analysis program.After the shore-based control center obtains cloud data,real-time monitoring of the course state changes during the autonomous navigation of the unmanned surface vessel through OSG,a 3D scene management tool,and the display of the state parameter information during the navigation of the unmanned surface vessel through the digital interface(The shore-based control center technical supported by Laboratory of Marine Dynamics and Simulation).(3)Carried out small-scale unmanned surface vessel digital simulation experiment and system physical joint debugging experiment.Firstly,a digital simulation experiment of the course controller which is used in the small-scale unmanned surface vessel.Compared with the simulation results of nonlinear feedback control algorithm,it is proved that the course feedback controller proposed in this paper has about 4%?12%improvement in control performance.The controller has a simple structure,the physical meaning is clear,and good application potential.Secondly,unmanned surface vessel course monitoring system based on data visualization designed in this paper and the small-scale unmanned surface vessel"BaiChuan" were subjected to physical joint debugging experiment,which verified the stability and effectiveness of the unmanned surface vessel's course controller.The results show that the unmanned surface vessel course monitoring system based on data visualization can realize the real-time monitoring of the unmanned surface vessel course change,which is an effective monitoring method in the process of controlling autonomous navigation,and meet the monitoring requirements of safe navigation of unmanned surface vessels.