Research On The Dead Reckoning And Track Control Method For Safe Navigation Of Hovercraft

The hovercraft as a new type of high-performance ship,in the shipping,scientific research and military,has more and more widely applications.As the hovercraft has a very strong operating mechanism and environmental adaptability,in today's marine resources exploration and development played an important role.Because the hovercraft is a high-speed boat,so it is vulnerable to harsh environment,in the navigation process prone to some dangerous situation: when the hovercraft to do rotary motion,the water resistance damping small,insufficient centripetal force,it is prone to side slip,flick and other dangerous phenomena;when the hovercraft in the high-speed navigation process,due to a variety of factors of interference,the actual route deviation from the planned track route,prone to collision,hit the reef and other dangerous situations;in the case of GPS location information is lost,hovercraft cannot know the location information,it is difficult to implement the current task,and also may be a collision and other hazards.It can be seen,hovercraft in the process of navigation there are many security risks.Therefore,the safe navigation of hovercraft is an important research aspect.In this paper,the hovercraft is the object of study.Specific work is as follows:First of all,through a certain type of hovercraft experimental data and actuator parameters,modeling the various institutional modules of the hovercraft,including the hydrodynamic model,the aerodynamic model,the control surface model and the air cushion force model.The Newton's law is used to vectorize the forces(moments)of each module to complete the six-degree-of-freedom mathematical model of the large hovercraft,and the simulation of the model is verified.Secondly,considering the loss of GPS signal in hovercraft,the method of dead reckoning of hovercraft is studied,and the position estimator based on interactive multi-model algorithm is designed and used in sea test.Then,the safe navigation of the hovercraft is studied,and the security clearance of the hovercraft parameters during the navigation process is established.Based on the analysis of the indirect trajectory control algorithm and the security clearance of the hovercraft,the PID controller and the LOS guidance controller are designed.Based on the simplified model of the hovercraft,the heading controller based on the adaptive backstepping sliding mode algorithm is designed.And simulated and verified under the action of disturbance wind.Finally,aiming at the problem of large drift angle and heel angle in the process of track control,considering the influencing factors of rotational rate,the guidance controller based on fuzzy expert control is designed and verified by simulation.