Research on Cruise Control System of Waterborne Unmanned Vessel Based on Kalman Filtering

With the water cruise in the field of marine management, sea rescue, environmental protection and national defense and security has an important application value. The purpose of this thesis research is based on the Kalman filter algorithm, how will the water unmanned boat design intelligent cruise control system in a variety of environments to realize the stability of the intelligent cruise system to develop a kind of unmanned boat that can realize the integration of high-definition camera system on the water cruise, water quality testing tasks and automatic obstacle avoidance, in order to improve the efficiency of the cruise and the ability to monitor. To study how to cruise on trajectory in complex environment and how to sail stably under waves, and to propose effective solutions. The MATLAB simulation experiment proves that the average water depth of the setup water area is three meters, and there exists a certain water current in the water environment (the average flow velocity is about 0.8 meters per second), the automatic control sailing speed of the unmanned ship is two meters per second, and the final error of the system is less than one meter when it stabilizes with the target trajectory tracking route, and the error of the course direction is less than two degrees; when the unmanned ship avoids the obstacles successfully, the unmanned ship avoids the obstacles in an average of three seconds, and the experiment concludes that the time of avoidance is related to the distance, complexity, and complexity of obstacles. The time is closely related to the distance and complexity of obstacles. It is finally verified that the Kalman filtering algorithm improves the stability in the application of intelligent cruise control system for waterborne unmanned vessels.