本文为土耳其中东技术大学（作者：MURAT KUMRU）的硕士论文，共171页。

本文主要研究无人驾驶水面船只的导航与控制算法。为此，首先考虑牛顿-欧拉方程组，建立了具有稳定机动能力的双螺旋桨水面船只的数学模型。然后设计一种合适的导航算法，将“惯性导航系统（INS）”、“全球导航卫星系统（GNSS）”和磁强计等外部辅助设备的解决方案相结合。在这一步，我们开发了不同的松耦合积分算法，并对它们的性能进行了比较。然后，在船模上安装必要的电气设备和驱动系统，作为航行试验平台。文中给出了对模型船实测数据的处理结果。同时，将修正后的导航解用于并行独立研究，以识别船舶数学模型的真实参数。最后，结合改进的数学模型，研究了各种自动驾驶仪算法的设计。实现了基于LQR和反馈线性化的控制器，给出了控制器的控制结果并进行了比较。

In this study, navigation and controlalgorithms for unmanned sea surface vehicles are investigated. For thispurpose, firstly the mathematical model of a sea surface vehicle with twopropellers providing stable maneuvering capabilities is constructed consideringNewton-Euler equations. The next phase is to design a suitable navigationalgorithm which integrates the solutions of “Inertial Navigation System (INS)” andexternal aids such as “Global Navigation Satellite System (GNSS)” andmagnetometer. At this step, different loosely coupled integration algorithmsare developed, and their performances are compared. After that, a model boat isassembled with necessary electrical equipment and driving system as a testplatform for the navigation implementations. The results of the navigationalgorithm obtained by processing real data collected from the model boat arepresented. Meanwhile, the corrected navigation solution is also utilized withina parallel independent study aiming to identify the real parameters of themathematical model of the boat. Finally, the design of various autopilotalgorithms is studied taking the improved mathematical model into account. LQRand “Feedback Linearization” based controllers are realized for this job. Theresults of the controllers are provided and compared.

1. 引言

2. 数学建模

3. 导航

4. 建立实验

5. 自动驾驶仪设计

6. 结论与展望

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