一种基于海洋大模型驱动的近海无人巡检艇自主导航系统
本申请涉及非电变量控制与水上运载工具航行控制技术领域,公开一种基于海洋大模型驱动的近海无人巡检艇自主导航系统。系统包括态势感知融合单元、环境预测与控制约束生成单元、概率安全轨迹生成单元和多变量协同抗扰控制单元;艇载端依据风、流、浪、水位和水深数据预测短时环境扰动,生成参考轨迹约束、障碍物概率分布和扰动补偿量,并同步输出舵角和主机转速指令,实现近海无人巡检艇位置、航向、航速及横摇姿态的闭环稳定控制。
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