基于系统理论过程分析方法的无人艇航行安全性分析

近年来,水上交通正朝着无人化、自主化方向发展.水面无人艇是水上交通工具中尺度较小、自主化程度较高的一类.面对复杂的海洋环境,高度集成的无人艇难免由于组件交互失效、内外干扰等造成航行安全事故.在无人艇设计过程中提高其安全性成为面向水上应用的无人艇研发的重要环节.为此,采用系统理论过程分析方法评估无人艇航行安全并给出安全优化对策.针对Pixhawk无人艇软硬件架构搭建事故致因模型.采用系统理论过程分析方法分析系统级危险、不安全控制行为及原因.最后,从三个方面提出了提高航行安全性的设计建议,从控制系统角度提高了Pixhawk无人艇航行安全设计能力.

STPA-based Navigation Safety Analysis of Unmanned Surface Vessels

In recent years, water transportation has a tendency towards pilotless and autonomy. Unmanned surface vessels are one kind of watercrafts with small scale dimension and high degree of autonomy. Faced with harsh marine environment, navigation safety accidents are inevitable for highly integrated unmanned surface vessels due to failure of component interactions, and internal and external interferences. The safety design of unmanned surfaces vessels has become an important part of the research and development of unmanned vessels for applications on water. In such a case, an accident causing model is constructed based on the software and hardware architecture of Pixhawk USV (unmanned surface vessel) by using systematic theoretical process analysis method. This model can be used to evaluate the navigation risk of USVs, unsafely actions and corresponding reasons. Finally, design suggestions from three aspects are proposed to improve the navigation safety, and the Pixhawk USV safety design capability is improved from the control system viewpoint.