usv

Design of the Autonomous Pilot System for USV Based on the Cerebra Model

基于仿大脑模型的无人艇自主驾控系统设计

To ensure the safety of navigation , USV requires real-time obstacle avoidance capability .

为保证航行安全，USV需要有实时的避障能力。

Research on the design of the intelligent motion control system of water-jet-propelled Unmanned Surface Vehicle ( USV ) is undertaken .

针对喷水推进方式的无人艇开展了其智能运动控制系统的设计研究。

Once the USV failed to make the right response to the circumstance changes may lead to serious consequence & capsizing .

一旦无人艇对环境的变化把握有误或者未能及时做出正确响应则有可能导致倾覆的严重后果。

The domestic research of USV is still in the initial stage , there is a big gap in the research level compared with western developed countries .

国内关于水面无人艇的研究尚处于起步阶段，与西方发达国家相比存在很大差距。

Because of high order , nonlinear , strong coupling and high uncertainties , it is difficult to derive an accurate dynamic model of USV .

由于USV的高阶性、非线性、强耦合和强不确定性，建立较为精确的动力学模型具有很大难度。

In order to achieve the purpose of unsinkable , the USV is often designed to be watertight .

为了达到不沉的目的，水面无人艇一般都设计为水密艇，本文则在不沉的基础上对水面无人艇的抗倾覆性进行研究。

The maximum value of annual effective dose is 53 . 8 uSv in 1992 , which is only equal to 9 % of natural background level .

最高年份（1992年）值为53.8μSv，仅为天然本底值的9%。

In the face of the complicated circumstances which our human beings seldom set foot in , the USV must have the capacity of surviving alone .

面对人类涉足甚少而又复杂多变的作业环境，水面无人艇必须依靠其自控能力、对环境的应变能力以及自适应能力才能独立生存。

Unmanned Surface Vehicle ( USV ) has some good properties such as high speed , stealthy hull and high intelligent , which are all good for flexible combat .

水面高速无人艇具有高速、隐身、智能等优点，因而能够用于灵活作战。

However , complicated motion control requisition , poor sea and the unexpected risks in the process of executing tasks are huge challenges for USV which adopts autonomous control system .

然而复杂的运动控制、恶劣的海况以及执行任务过程中的突发险况都是对采用自主控制的无人艇安全性能的一个巨大挑战。

In recent years , more and more attention has been paid on unmanned surface vehicles ( USV ) with advantages of small volume , good flexibility , high speed and no casualties .

近年来，无人水面艇（USV）凭借其体积小、灵活性好、航速高、无人员伤亡等优势，受到了学者们的广泛关注。

During the process of missions which the USV commits on , the USV need tobe highly intelligent and avoid the obstacles in the sea adaptively .

水面无人艇在执行任务的过程中，需要能够高度智能化、自适应的躲避海面上的障碍物。

The course and track control of unmanned surface vehicle ( USV ) is important to improve the observational effect of the recon reconnaissance equipment and the multi & mission operational capability .

水面无人艇（UnmannedSurfaceVehicle）的航迹控制对提升无人艇艇载设备侦察观测效果以及多任务作战能力具有十分重要的意义。

Use MATLAB / GUI technology to complete the calculating interface of the mathematical model of USV and the main control interface of test platform of USV which integrates all functions making the operation convenient .

用MATLAB/GUI技术编写无人艇数学模型的计算界而，试验平台的主控制界面；整合所有功能，方便研究人员操作。

The USV control system needs to strengthen its control ability , self-study and self-adaptive abilities for highly dynamic and unpredictable marine environment . Therefore advanced control strategies are kind of need to get satisfactory maneuvering performance .

海洋环境的高度动态和不可预测使USV的控制能力需要加强，其控制系统还应具有良好的自适应、自学习能力，从而需要采用先进的控制策略，才能得到满意的操纵性能。

Furthermore , the six degrees of freedom ( DOF ) motion model of USV has strong randomicity and nonlinearity under wind , waves and other disturbances , which make it difficult to control using traditional control methods .

此外受到海风、海浪及其他干扰的影响，USV会产生六自由度的复杂运动，具有很强的随机性和非线性，产生了传统控制手段难以快速精确控制的问题。

And when USV capsized in accident , making it easily recover to upright floating attitude with limited outside disturbances or active measures , directly relates to the vitality and battle effectiveness of USV .

而当无人艇意外倾覆后，使其在有限的外界干扰或主动措施作用下恢复到正浮状态，直接关系到无人艇的生命力和战斗力。

With the change of the war way , unmanned combat system has become the main trend of the future . Unmanned Surface Vessel ( USV ) as one of the important branches , more and more nation pay attention to it .

随着作战方式的变革，无人作战系统成为未来发展的主流趋势，水面无人艇（UnmannedSurfaceVessel，简称USV）作为其中一个重要分支，受到越来越多国家的重视。