用于圆周合成孔径声呐成像的无人船圆周运动精准控制方法

doi:10.16183/j.cnki.jsjtu.2024.080

上海交通大学学报 ›› 2026, Vol. 60 ›› Issue (1): 154-162.doi: 10.16183/j.cnki.jsjtu.2024.080

用于圆周合成孔径声呐成像的无人船圆周运动精准控制方法

乔文超¹^,², 聂伟民¹^,², 杜选民¹(), 刘本奇¹, 叶天明¹^,², 杨天霖¹

¹ 汉江国家实验室, 武汉 430061
² 上海船舶电子设备研究所, 上海 201108

收稿日期:2024-03-15 修回日期:2024-05-05 接受日期:2024-06-28 出版日期:2026-01-28 发布日期:2026-01-27
通讯作者: 杜选民 E-mail:13916004062@139.com.
作者简介:乔文超(1996—),工程师,从事无人系统导航与控制研究.
基金资助:
汉江国家实验室基金资助项目(ZC2023010)

A Precise Control Method for Circular Motion of Unmanned Surface Vehicles for Circular Synthetic Aperture Sonar Imaging

QIAO Wenchao¹^,², NIE Weimin¹^,², DU Xuanmin¹(), LIU Benqi¹, YE Tianming¹^,², YANG Tianlin¹

¹ Hanjiang National Laboratory, Wuhan 430061, China
² Shanghai Marine Electronic Equipment Research Institute, Shanghai 201108, China

Received:2024-03-15 Revised:2024-05-05 Accepted:2024-06-28 Online:2026-01-28 Published:2026-01-27
Contact: DU Xuanmin E-mail:13916004062@139.com.

摘要/Abstract

摘要：

圆周合成孔径声呐通过对成像场景作360° 圆周运动获得目标全方位观测信息,以实现水下目标三维高精度成像,其成像效果受无人搭载平台的圆周运动误差影响较大.针对这一问题,根据圆周路径推导设计了基于向心加速度的圆周运动非线性制导算法(centripetal acceleration based nonlinear guidance for circular,CANGC),对圆周轨迹贴合度高,具有较高的控制精度.此外,还设计了基于模型预测控制算法的圆周运动控制律,具有较快的控制响应和较强的自适应能力.将两种算法较好地融合,可实现精准圆周轨迹跟踪.其中制导律的控制输出为偏航角速度,因此控制过程中不依赖于无人船磁力计测得的偏航角数据,可以在具有较强磁场影响的条件下使用.通过仿真实验验证了算法的优越性,本文所设计的算法跟踪精度比文献中的算法的跟踪精度高80.1%.湖上实验进一步验证该算法对于圆周运动有较高的控制精度.研究成果为圆周合成孔径声呐成像无人船平台研究提供了算法基础.

关键词: 无人船, 圆周合成孔径, 声呐成像, 圆周运动控制, 模型预测控制

Abstract:

Circular synthetic aperture sonar obtains all-round observation information of underwater targets by performing 360° circular motion on the imaging scene to achieve high-precision three-dimensional imaging of underwater targets, whose imaging performance is significantly affected by the circular motion error of unmanned platforms. To address this issue, a centripetal acceleration based nonlinear guidance for circular (CANGC) was designed based on the derivation of the circular path, which has a high degree of fit to the circular trajectory and high control accuracy. In addition, a circular motion control law based on model predictive control (MPC) algorithm was designed, which has a fast control response and a strong adaptive ability. The two algorithms were well integrated to achieve accurate circular trajectory tracking, in which the control output of the guidance law is yaw rate, so that the control process does not rely on the yaw angle data measured by the magnetometer of the unmanned surface vehicle (USV) and can be used under conditions with strong magnetic field influence. The superiority of the algorithm was verified through simulation experiments, and the tracking accuracy of the algorithm proposed in this paper is 80.1% higher than that of the algorithm described in previous reference literature. Further validation was conducted through lake experiments, which shows high control accuracy for circular motion. The research results provide an algorithmic foundation for the development of unmanned ships used for circular synthetic aperture sonar imaging.

Key words: unmanned surface vehicle (USV), circular synthetic aperture, sonar imaging, circular motion control, model predictive control (MPC)

中图分类号:

乔文超, 聂伟民, 杜选民, 刘本奇, 叶天明, 杨天霖. 用于圆周合成孔径声呐成像的无人船圆周运动精准控制方法[J]. 上海交通大学学报, 2026, 60(1): 154-162.

QIAO Wenchao, NIE Weimin, DU Xuanmin, LIU Benqi, YE Tianming, YANG Tianlin. A Precise Control Method for Circular Motion of Unmanned Surface Vehicles for Circular Synthetic Aperture Sonar Imaging[J]. Journal of Shanghai Jiao Tong University, 2026, 60(1): 154-162.

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参数	取值
m/kg	97.6
I_zz/(kg·m²)	8.67
N_r/[kg·m²·(s·rad)^-1]	-12

用于圆周合成孔径声呐成像的无人船圆周运动精准控制方法

A Precise Control Method for Circular Motion of Unmanned Surface Vehicles for Circular Synthetic Aperture Sonar Imaging

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