Research On Techniques For UAV Aided Ship Attitude Measurement And Fall Point Estimation

The sea-based platform can voyage deeply into the ocean for a flexible deployment,so it has an irreplaceable role in ocean monitoring and space TT&C(Telemetry,Track and Command).However,due to the particularity of the marine environment,many interference problems should be faced.With the increase of sea monitoring and TT&C tasks,research on sea-based platforms has received more and more attention.Along with the rapid development of UAV(Unmanned Aerial Vehicles)in recent years,a ship-UAV cooperative observation system based on TT&C ships and UAVs is proposed to complete two important tasks,TT&C ship's attitude measurement and fall point estimation,on the sea.The specific work of this dissertation includes two aspects.Firstly,a UAV-aided ship attitude measurement method for TT&C ship is proposed.With the self-positioning capability,UAVs are used as calibration points in the method.The ship attitude measurement algorithm is based on least squares with proper model.More accurate ship attitude estimation is obtained with the further fusion of the data from the TT&C ship's onboard inertial navigation system.Secondly,a new target localization method with surrounding UAVs is put forward.The water column generated at the fall point on the sea is used to for positioning and it is assumed to be observed by the optical bearing only sensors carried on the UAVs.The estimation method is based on the idea of bearing only crossing positioning.By reformulating the observation model with the sin/cos form instead of the traditional tangent form,the ill-posed problem that may occur for the traditional algorithm is avoided,and the positioning accuracy in the surrounding area of the UAVs is effectively improved.The above research can effectively enhance the task execution abilities of the sea-based platform by introducing the UAV system.It is a new way to improve the observation accuracy of TT&C ship.