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Article

An Attitude Prediction Method for Autonomous Recovery Operation of Unmanned Surface Vehicle

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
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Sensors 2020, 20(19), 5662; https://doi.org/10.3390/s20195662
Received: 28 July 2020 / Revised: 30 September 2020 / Accepted: 30 September 2020 / Published: 3 October 2020
(This article belongs to the Special Issue Measurement Methods in the Operation of Ships and Offshore Facilities)
The development of launch and recovery technology is key for the application to the unmanned surface vehicle (USV). Also, a launch and recovery system (L&RS) based on a pneumatic ejection mechanism has been developed in our previous study. To improve the launch accuracy and reduce the influence of the sea waves, we propose a stacking model of one-dimensional convolutional neural network and long short-term memory neural network predicting the attitude of the USV. The data from experiments by “Jinghai VII” USV developed by Shanghai University, China, under levels 1–4 sea conditions are used to train and test the network. The results show that the stabilized platform with the proposed prediction method can keep the launching angle of the launching mechanism constant by regulating the pitching joint and rotation joint under the random influence from the wave. Finally, the efficiency and effectiveness of the L&RS are demonstrated by the successful application in actual environments. View Full-Text
Keywords: unmanned surface vehicle (USV); launch and recovery system (L& RS); attitude prediction; convolutional neural network (CNN); long short-term memory (LSTM) neural network unmanned surface vehicle (USV); launch and recovery system (L& RS); attitude prediction; convolutional neural network (CNN); long short-term memory (LSTM) neural network
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MDPI and ACS Style

Yang, Y.; Pan, P.; Jiang, X.; Zheng, S.; Zhao, Y.; Yang, Y.; Zhong, S.; Peng, Y. An Attitude Prediction Method for Autonomous Recovery Operation of Unmanned Surface Vehicle. Sensors 2020, 20, 5662. https://doi.org/10.3390/s20195662

AMA Style

Yang Y, Pan P, Jiang X, Zheng S, Zhao Y, Yang Y, Zhong S, Peng Y. An Attitude Prediction Method for Autonomous Recovery Operation of Unmanned Surface Vehicle. Sensors. 2020; 20(19):5662. https://doi.org/10.3390/s20195662

Chicago/Turabian Style

Yang, Yang, Ping Pan, Xingang Jiang, Shuanghua Zheng, Yongjian Zhao, Yi Yang, Songyi Zhong, and Yan Peng. 2020. "An Attitude Prediction Method for Autonomous Recovery Operation of Unmanned Surface Vehicle" Sensors 20, no. 19: 5662. https://doi.org/10.3390/s20195662

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