Dual Feedback Based Water Cannon Jet Stabilization System

In the process of maritime law enforcement by using water cannon, the marine police and marine surveillance ships usually encounter the situation that the vessel shakes due to wind and waves, which leads to the shaking of water cannon and the jet cannot accurately hit the target. The existing water cannon systems mostly adopt the single feedback control method, without considering the interference of the carrier movement on the water jet. In order to solve this problem, this paper proposes a water cannon jet stabilization system based on dual feedback, using IMU to collect motion pose of carrier, and using autoregressive sliding average model to compensate pose of carrier; using camera to collect information of landing point of water, and using back propagation algorithm to adjust the parameter of jet model in real time and adjust the water cannon joint angle with feedback. The experimental results on the intelligent water cannon platform show that after adopting the dual feedback mechanism, the shooting error of the water jet can be effectively reduced more than 33%.