100results about How to "Improve navigation safety" patented technology

An aircraft system includes a deviation module and a visual display. The deviation module is configured to receive a flight plan with a flight segment to a waypoint, the flight plan including a lateral profile, a vertical profile, and a time profile, the time profile including a predetermined time of arrival associated with the waypoint, receive a current lateral position and a current altitude, estimate an estimated time of arrival associated with the waypoint, compare the current lateral position to the lateral profile to generate lateral deviation, compare the current altitude to the vertical profile to generate vertical deviation, and compare the predetermined time of arrival to the estimated time of arrival to generate time deviation. The visual display is coupled to the deviation module and configured to display deviation symbology representing the lateral deviation, the vertical deviation, and the time deviation.

The invention discloses a method for generating an electronic channel chart based on the Changjiang River standards, which is mainly based on the digital channel measurement data transmission standard of the Changjiang River, the digital channel measurement data verification standard of the Changjiang River and the electronic sea chart data protection scheme recommended by IHO (International Hydrography Organization), sets up a standardized electronic channel chart database of the Changjiang River by utilizing advanced computer network technology, data communication technology and geographic information processing technology, realizes the measurement and the management for channels over the Changjiang River, the generation of the electronic channel chart and the automation, integration and networking of the entire release process by means of the generation flow including data acquisition, data processing, editing of the channel chart, checking of the channel chart, release of the channel chart and application of the channel chart, and provide, in the form of browser, the latest electronic channel chart service for ships sailing on the Changjiang River, shipping related departmentsand enterprises and public institutions in time. The method has the obvious advantages of normative data format, complete data updating mechanism, mature business system, safe information protection mechanism, great advantage in popularization and the like.

The invention discloses an autonomous obstacle avoidance method for an unmanned boat integrating radar and photoelectric information; the method mainly comprises the following steps of performing obstacle target primary judgment, obstacle target maximum length value calculation, obstacle target secondary judgment, obstacle avoidance model determination, speed and course change quantity optimal solution acquisition, obstacle avoidance ending point determination and the like. According to the method, the radar and the photoelectric equipment are combined to accurately obtain the motion information and the outline information of the obstacle target, and the obstacle avoidance model capable of quantizing the speed and course change quantity of the unmanned boat is given, and then the optimal solution meeting a plurality of conditions including a maritime obstacle avoidance rule is obtained through a particle swarm algorithm; finally, the obstacle avoidance ending time point is determined,and a route is re-planned to move forward to the previous target. According to the method, the obstacle avoidance can be rapidly and safely realized, the running path cannot be wasted, and the intelligent degree of the unmanned boat is improved, and the method can be widely applied to the field of intelligent navigation of military or civilian unmanned boats at the later stage, so that the navigation safety of the unmanned intelligent aircraft in a complex water area is improved.

The invention discloses a browser-based marine navigation system. The system is composed of three layers of network structures including a marine client, a Web server, an application server and a database server. The Web server is respectively in bidirectional connection with the marine client, the application server and the database server, and the application server is respectively in bidirectional connection with the marine client and the database server. The system adopts a mode of operating based on an IE (Internet Explorer), can avoid trouble and high cost in installation and maintenance of ECDIS (Electronic Chart Display And Information System) / ECS (Electronic Chart System) on a large number of ships in inland rivers, and the comprehensive navigation server can be obtained just with low mobile network communication cost, thus, the navigation safety of the ships is improved greatly. According to the invention, the three layers of network structures for integrated navigation service are provided, intercommunication between the browser-based marine navigation system and a shore-based system is established, and the function that the ship can obtain all-around integrated information service from one terminal is realized.

The invention discloses an inland river ship height exceeding alarm system and method based on laser distance measurement and radar images. The system comprises a laser distance measurement device, amonitoring radar device and an alarm device mounted at the critical height of a bridge on both sides of a river bank, wherein the laser distance measurement device is used for acquiring a distance S between a laser transmission end and an obstacle, the monitoring radar device is used for acquiring the radar images of the river, a data processing center is used for determining whether a passing height exceeding ship exists according to the difference of the distance S between the laser transmission end and the obstacle and width W of the river and determining whether a passing height exceedingship exists according to the radar images, if yes, an alarm signal is emitted, and the alarm device is used for emitting acousto-optic alarm according to the alarm signal. The system is advantaged inthat whether the height of the ship surpasses the limit can be accurately determined, a problem of false alarm caused by blocking of laser beams by birds, rain or other interferent can be avoided, andthe system is of great importance to navigation safety for inland river ships.

The invention discloses a marine monitoring early warning terminal based on Beidou navigation communication. The terminal comprises a shell and a main circuit board in the shell, the main circuit board comprises a Beidou positioning module, a processor, a sensor module, a 4G transmission device, a touch screen module, an audio module and a Beidou short message communication module, and the Beidoupositioning module, the processor, the sensor module, the 4G transmission device, the touch screen module and the audio module are respectively connected with the processor. Under a condition where mobile network communication is good, the terminal can communicate with the server through the 4G transmission device; when the terminal is in a dead zone of a mobile network, the terminal can communicate with a satellite through the Beidou positioning module, and thus, a problem of navigation and remote control of the dead zone of the mobile network is solved; moreover, the terminal can plan a route again according to early warning information of a remote monitoring center and avoid dangerous areas, also can perform dangerous situation alarming for the remote monitoring center, and can improvesafety of sailing of ships.

The invention provides an air cushion ship formation control device based on a virtual navigator and a navigation strategy. The air cushion ship formation control device comprises a virtual navigator module, a navigation module, a comparator and a controller, wherein the virtual navigator module sets the expected position for each air cushion ship through the geometrical relationship and updates the expected position in real time; the navigation module converts the self expected position into an expected speed signal; the comparator compares the expected speed with the practical speed to obtain the speed misalignment; and the controller can resolve a control command according to the speed misalignment. The air cushion ship formation control device and method based on a virtual navigator and a navigation strategy utilize the strategy for combining navigation with a virtual navigator, and set the expected position for each air cushion ship through the specific geometrical relationship by means of the virtual navigator, and then utilize translation to approach the navigation to convert an expected position signal into an expected speed signal to control, thus being able to effectively avoid the overshooting situation and improving the accuracy of formation and the safety of navigation.

The invention relates to a ship comprehensive PNT (position, navigation and timing) system based on adaptive information fusion, which is characterized by comprising a PNT sensor unit, a data acquisition unit, an information fusion unit and a chart navigation unit; the PNT sensor unit is connected with the data acquisition unit for acquiring ship position, navigation and timing PNT information; the data acquisition unit is connected with the information fusion unit for integrating the acquired ship PNT information and outputting the information to the information fusion unit; the information fusion unit is connected with the chart navigation unit for preprocessing of sensor raw data, multi-schema switching adaptive fusion, fault detection, fault isolation and system reconstruction; and thechart navigation unit is used for implementing ship driving assistance of ship positioning navigation, route planning and navigation monitoring, etc. The system in the invention can provide high-precision and robust PNT information and other navigation aid information, thereby meeting the ship navigation requirements and improving the ship navigation safety.

The invention discloses an intelligent ship autonomous collision avoidance and path planning method based on reinforcement learning, and the method comprises the following steps: 1), obtaining the surrounding environment information of a ship and the information of the ship, and sensing an environment state space; (2) calculating collision avoidance parameters according to relevant information including the obstacle position, the navigation speed and the navigation direction in the environment state space, and judging whether a collision risk exists or not; 3) if there is no collision risk, directly performing path planning; if the collision risk exists, building an intelligent ship collision avoidance model built by fusing the LSTM and the reinforcement learning principle, searching the optimal collision avoidance strategy for avoidance, and obtaining the navigation speed and the navigation direction required by collision avoidance of the ship; and 4) after execution of the collisionavoidance strategy is finished, determining a critical position point where the collision risk disappears as a new starting point according to a set condition, and then performing path planning againby utilizing a path planning algorithm. According to the invention, the LSTM neural network is introduced, and the optimal strategy is updated by using the Bellman equation so that the continuity of the collision avoidance action is realized.

The invention discloses a hovercraft slew rate maintaining control method adopting a guide module. The hovercraft slew rate maintaining control method comprises steps as follows: a slew rate control guide module reads a set slew rate and a current actual course angle, and a current expected course angle is obtained and transmitted to a comparator; the comparator compares the received expected course angle with the current actual course angle, and course deviation is obtained and transmitted to a controller; the controller obtains a rudder angle control command according to the received course deviation, the rudder angle control command is sent to an air rudder, and the air rudder executes the command until the set slew rate is met. With adoption of the method, a hovercraft can be automatically controlled to slew, and the control level and the navigation stability can be improved.

The invention discloses a marine solid oxide fuel cell and steam-injected gas turbine combined generating system and a marine solid oxide fuel cell and steam-injected gas turbine combined generating method. The air input port of the air compressor of the system is used for introducing air, the air output port of the air compressor is connected with a heat regenerator, the gas output end of the heat regenerator is connected with a cell stack cathode, the fuel output end of a fuel bottle is connected with the fuel input end of a pre-reformer, the output end of a distilled water heater is connected with the pre-reformer, the output end of the pre-reformer is connected with a cell stack anode, the anode discharge gas output pipeline and the cathode discharge gas output pipeline of a solid oxide fuel cell are used for a combustion chamber, the exhaust gas output end of the combustion chamber is connected with the gas inlet of a turbine, the gas outlet of the turbine is connected with the gas inlet of the heat regenerator, the exhaust gas outlet of the heat regenerator is connected with a waste heat boiler through an exhaust gas transmission pipeline, and the superheated steam output endof the waste heat boiler is connected with the superheated steam input end of the combustion chamber. The system realizes waste heat utilization of a marine auxiliary boiler.

The invention relates to the technical field of unmanned ships, and discloses an unmanned ship obstacle avoidance control system and an unmanned ship. The obstacle avoidance control system comprises:an angle acquiring module, which is used for acquiring an included angle between the axial direction of an image sensor and the horizontal plane; a judgment module, which is used for judging the sizeof an included angle between the axial direction of the image sensor and the horizontal plane and the size of a preset angle; a first control module, which is used for controlling the rotation of theimage sensor in the pitching direction to enable the included angle between the axial direction of the image sensor and the horizontal plane to be equal to a preset angle; an information acquisition module, which is used for acquiring the detection information of the image sensor; and a navigation control module, which is used for controlling the navigation of the unmanned ship according to the detection information. According to the unmanned ship obstacle avoidance control system, the obstacle is prevented from exceeding the detection visual field of the visual obstacle avoidance device, obstacle detection failure of the unmanned ship is avoided, and the navigation safety of the unmanned ship is improved.

The invention discloses an algorithm for mass and gravity center of ship cabin interior decoration engineering. The algorithm is characterized by establishing a SketchUp model for each object of the interior decoration engineering by adopting SketchUp software, then, calculating the mass and gravity center of each object of the interior decoration engineering by using a ruby language plug-in program, and then, outputting and creating a table file by a user interface of the SketchUp or file access of the SketchUp so as to display calculated results of the mass and gravity center of each object of the interior decoration engineering. Compared with the prior art, the algorithm has the advantages that the calculation is convenient and fast, the accuracy is good, the hydrodynamic force and navigation safety performance of a ship are effectively improved, particularly, the calculation process is simplified, the design quantity of the engineering is reduced, the working efficiency is greatly increased, and the algorithm is particularly applicable to the calculation of the mass and gravity center of a material of a complicated space structure, can be used for solving the mass and gravity center of any entity model in the SketchUp and is convenient in calculation and high in accuracy.

The invention discloses an automatic submarine topography generating method which can automatically generate submarine topography through water depth data obtained by an autonomous underwater vehicle (AUV). The method comprises two stages of the stage 1 of obtaining the water depth data through the AUV and the stage 2 of automatically generating the submarine topography according to the water depth data obtained by the AUV. The automatic submarine topography generating method is simple to operate and can effectively achieve the purpose of automatically generating submarine topography according to the water depth data obtained by the AUV. In addition, the generated submarine topography result can truly show the submarine topography characteristics.

The invention provides a global traffic organization and optimization method for entering and leaving a large harbor complex navigation channel. The method comprises the following steps: making routeassignment of a complex navigation channel and changing a traffic mode inside a route; taking the optimal solution of the channel utilization rate and the minimum waiting time of a ship as global objective functions to establish a global traffic organization and optimization model for entering and leaving the large harbor complex navigation channel, the optimization model comprising a complex navigation channel entrance conflict resolution sub-model, a parallel navigation channel traffic flow cross conversion sub-model, and a multi-channel convergence traffic flow evacuation sub-model; and obtaining an optimized traffic organization scheme through a heuristic algorithm. According to the method provided by the invention, for the first time from a global point of view, a global traffic organization method for ships to enter and leave a large harbor complex navigation channel is designed, which can provide a theoretical guidance for a port dispatcher, greatly improve the inefficient dispatch mode relying only on manual experience in the past, further ensure the safety and efficiency of ship navigation, and improve the harbor operation benefit.

The invention discloses a monitoring method for structural hotspot stress of a ship. The monitoring method comprises the steps of: S10, analyzing a to-be-monitored position where the ship is prone todeform by adopting a finite element analysis method according to a design drawing of the ship; S20, installing a three-way strain gauge at the to-be-monitored position; S30, and acquiring data of thethree-way strain gauge during the loading or sailing process of the ship, and determine whether a structural stress value at the to-be-monitored position exceeds a designed safety value through data comparison. By setting the three-way strain gauge at the position where the ship is prone to deform, the three-way strain gauge can monitor stress variation at the position precisely, if the monitoredstructural stress value is greater than the designed safety value, the fact indicates that the position is at large risk of breakage, and thus the sailor can be reminded to carry out corresponding maintenance treatment; and the monitoring method selects to perform monitoring during the loading and sailing process, thus states of the ship under the two working conditions can be timely fed back, theposition where the ship is prone to deform can be learnt about timely, so as to carry out treatment in time, thereby eradicating potential safety hazards and improving sailing safety.

The invention belongs to the technical field of electric quantity detection, and particularly relates to a current detecting device for a ship stern shaft. A sensor circuit unit is fixedly mounted at the rear end of a bearing block of the ship stern shaft to be detected and is provided with a finished or self-designed current sensor; the sensor circuit unit is fixedly connected with the ship stern shaft by means of welding or through a sliding ring to realize smoothness of weak current; a data acquisition circuit unit is mounted in a space of a computer hardware case and respectively electrically communicated with a computer and the sensor circuit unit through communication interface circuits; and the current of the stern shaft passes through a propeller, returns to a hull through joints of a driving motor, a speed reducer and the bearing blocks, and then passes through the sensor circuit unit and the data acquisition circuit unit, so that data are processed and displayed by the aid of self-programming software installed in a computer. The current detecting device is simple in overall structure, reliable in principle, low in manufacturing cost, convenient in use and operation, accurate in data detection, wide in application range and applicable to detecting the current of stern shafts of various ships.

According to the AIS-based intelligent sensing navigation mark equipment and the early warning method thereof, switching between an entity AIS navigation mark and a virtual AIS navigation mark can be intelligently selected according to whether the sea surface environment is suitable for navigation mark equipment operation or not; according to the navigation mark, the navigation mark light is combined with the virtual AIS navigation mark to navigate the passing ships, the ship provided with the AIS system and the ship not provided with the AIS system can still be navigated according to the navigation mark light, the navigation mark is located in the calm seabed under the severe weather condition, the navigation mark is clamped and fixed through the relay floating body, and the navigation effect is good. And meanwhile, the energy storage winding drum structure is used for achieving winding and unwinding of the mooring rope, and power output of a motor, hydraulic pressure and the like is not needed for winding and unwinding of the navigation mark creatively.

The invention discloses an automatic track control apparatus for ships. The automatic track control apparatus comprises a control main board, a display, keys, operating buttons, a solenoid valve and sensor. The control main board is connected with an electronic chart through an Ethernet. The display is connected with the control main board through a serial port. The keys are connected with the control main board through an input-output port. The operating buttons are connected with the control main board through a serial port. The sensor is connected with the control main board through a serial port or a network port. Communication data forms are selected by a dial switch. The control main board receives information from an electronic positioning system, information from a compass sensor, and information from a speed and distance sensor, and simultaneously receives ship route planning information from the electronic chart and actual rudder angle information from a rudder angle feedback device. According to the received information, the control main board automatically solves command rudder angle information. The command rudder angle information guides a steering gear control device for the actual rudder. The automatic track control apparatus can maintain the heading of the ship with high precision and improve the safety of the ship's navigation.

The invention relates to the technical field of ship shipping, in particular to a stranding early warning method and system based on shipping route information. The method comprises the steps of acquiring draught depth data of a ship and water level depth data on a shipping route; calculating the lowest water level depth on the shipping route according to the water level depth data on the shippingroute; and comparing the draft data of the ship with the lowest water level depth on the shipping route, and correspondingly generating stranding early warning information of the ship. The inventionfurther discloses a stranding early warning system based on the shipping route information. According to the stranding early warning method and system, the sailing state of the ship is monitored according to the draught depth data of the ship and the water level depth on the sailing route, stranding early warning information can be generated to assist a ship driver in judgment and operation when stranding risks exist, and therefore sailing safety of the ship can be improved in an assisted mode.

The invention relates to an obstacle detection error correction and safety collision prevention method of an unmanned surface vehicle. A collision prevention model is built from a safety angle, a marine collision prevention rule is followed, an error model of information such as obstacle position and speed which are detected by an unmanned surface vehicle carried radar according to a soft processing mode, a probable zone of each information error is given out, so that calculation is performed according to the corrected obstacle position and speed information after collision judgment, a collision judgment result of the detection error is finally considered, and an uncertainty potential risk brought by the detection error is eliminated. Whether collision is generated or not is judged by bringing the error model to a collision prevention algorithm, and whether collision prevention of the unmanned surface vehicle conforms to the marine collision prevention rule or not by dimension reduction processing and according to an included angle range. An automatic collision prevention method built by the invention conforms to an international marine collision prevention rule, and the flight safety during the automatic collision prevention process of the unmanned surface vehicle is improved.

The invention provides an autonomous ship route planning method based on a D*Lite optimization algorithm. The method comprises the steps that S1, in the navigation process of an autonomous ship, obtaining environment information according to a preset time interval, and according to the currently obtained environment information and the environment information obtained last time, if the environmentinformation in a current target map area is changed, judging whether a target route point of the autonomous ship is changed or not; and S2, if the target path point is changed, updating the target route point, taking the current route point as a navigation starting point, determining a termination point according to the updated target route point, and planning a route for the autonomous ship to continue to sail by adopting the D*Lite algorithm according to the environmental information, the navigation starting point and the termination point in the current target map area, wherein the targetmap area is a map area influencing route planning between the current route point and the target route point. When the position of the target route point is changed in the navigation process of the autonomous ship, the route can be dynamically replanned in real time.

The invention discloses a threat degree based UUV (Unmanned Underwater Vehicle) multi-grade survival emergency self-rescue method, and relates to a UUV self-rescue method in order to solve a problem that the existing UUV is single in self-rescue mode and poor in safety. The method disclosed by the invention is embedded into a mission computer in the mode of a computer program, and comprises the steps of receiving fault alarm information sent by other computer nodes of a UUV, determining a dangerous event giving rise to an alarm according to the fault alarm information, determining the threat degree according to the determined dangerous event, determining an emergency plan according to the threat degree, and carrying out self-rescue according to the determined emergency plan. According to the invention, the corresponding emergency plan is adopted independently for unexpected discrete dangerous events which are possibly encountered by the UUV in the process of executing a mission so as to carry out self-rescue.

The invention discloses a multi-ship control simulator integrating system based on internet and a realizing method thereof. The system comprises a center server, a simulator terminal and a matched communication network. The method is applied on the basis of the system. A user can search a simulation training object of a ship control simulator without limiting areas by the internet, realize area-crossing or border-crossing navigation simulating operation, set a simulation training scene at random as required, select a simulation training area at random and add and delete the partner quantity of simulation training as required.

The invention discloses a dwelling zone antifreeze method applicable to an arctic navigation ship. All layers of dwelling decks of a dwelling zone are each designed to be of a totally-enclosed structure and provided with electric heating glass windows, a preheating and reheating twice steam-heating mode is adopted for a central air conditioning system of the dwelling zone, and electric heating wire nets are arranged at fresh air suction ports; each cab of the dwelling zone is designed to be of a totally-enclosed structure and provided with an electric heating glass window, an air tube is led out of the central air conditioning system to be connected to an air distributor above the window of each cab at the same time, and hot air is supplied to the windows of the cabs through the air distributors; and a windscreen wiper and a hot water and compressed air flushing pipeline are further arranged on the window of each cab. By adoption of the dwelling zone antifreeze method applicable to the arctic navigation ship, it is effectively guaranteed that escape ways on all the decks of the dwelling zone as well as navigation equipment and communication systems in the cabs are not affected by the external cold polar environment, the comfortable dwelling environment temperature for seamen is fully guaranteed, and meanwhile, safe navigation of the ship in the polar region is guaranteed.

The invention discloses a nautical chart isobath smoothness assessment method. The method comprises the following steps of reading plane positions of all nodes on an isobath of a nautical chart; defining a line segment formed by connecting the current node and the front node as a front line segment, a line segment formed by connecting the current node and the rear node as a rear line segment, anda line segment formed by connecting the front node and the rear node as a paired line segment; calculating a curvature of the isobath at the current node; calculating a smooth deviation of the isobathat the current node; calculating chord distances from the front line segment and the rear line segment to a circumscribed circle; and calculating a curvature average value, a smooth deviation maximumvalue and a chord distance maximum value of the isobath at all the nodes. According to the nautical chart isobath smoothness assessment method, the isobath smoothness assessment is realized through acomputer, so that the navigation capacity of a channel can be reflected more accurately, the submarine geomorphology can be reasonably displayed, and the navigation safety is improved.

The invention discloses a side-bend energy absorbing buffer stem, which comprises a hull. A longitudinal structure unit, a transverse structure unit and an advanced collapsing structure are arranged in the hull, wherein the longitudinal structure unit is provided with a horizontal stringer, and the advanced collapsing structure is provided with a plurality of collapsing portions which are arranged at junctions of the horizontal stringer and the hull. When the buffer stem bumps a collided ship, the collapsing portions can collapse in advance and enable the buffer stem to deform in a side-bend manner, accordingly, the contact area of the buffer stem with the collided ship can be increased, impact force can be scattered, and the buffer stem is prevented from puncturing a hull of the collided ship.

The embodiment of the invention relates to a ship cluster situation analysis method under a conflict meeting situation, and the method comprises the steps: dividing a sensing area of a target ship into a plurality of virtual dynamic grids based on different stages of a conflict meeting process; determining connectivity in each virtual dynamic grid, and selecting representative ships in the virtualdynamic grids to reflect traffic conditions in the dynamic virtual grids; describing the acting force of the representative ship on the target ship through the acting granularity in the plurality ofvirtual dynamic grids; and scoring by adopting a fuzzy logic rule in combination with the action granularity to obtain the acting force borne by the target ship. According to the method, a language variable form is adopted, and regularity approximate reasoning is carried out on environmental information of a target ship in actual navigation; by analyzing the action granularity of the representative ship on the target ship in the virtual dynamic grid area under the conflict meeting situation, accurate perception and cognition information can be provided for collision avoidance decision of the intelligent unmanned ship and selection of the next navigable area, and the navigation safety is improved.

The invention discloses a portable shared navigation radar for a ship. The navigation radar for the ship adopts a computer platform, so that a foundation is laid for a system. A master radar transmits radar image information to a portable radar terminal through a network router, and supplies a radar image (to users who watch images) or a radar signal data file (to operating users) which can be observed through a browser; and the portable radar terminal is provided (or designed) with a wireless transceiver module and a radar image browsing terminal platform software system (which is used on a Linux platform or Windows). By the portable shared navigation radar, ship navigation accidents can be prevented effectively, and the navigation safety is improved. Functions of hardware and software which are required by the portable radar terminal can be realized by using general equipment, and the cost is low. The number of terminal users is unlimited; and according to requirements, the users can store the required radar image information. Due to an Internet technology, the system is convenient to upgrade and expand.

The invention discloses an inland river unmanned ship collision avoidance method based on model predictive control. The method belongs to the field of unmanned ship path planning, and specifically comprises the following steps: 1, modeling a safe area of an unmanned ship and a dynamic obstacle; 2, converting an optimal control problem of collision avoidance of the unmanned ship into a nonlinear programming problem; 3, constructing a cost function of the control target, the speed and the speed increment; 4, constructing a cost function for evaluating the unmanned ship collision avoidance control rule conformity; 5, taking the solved state of the unmanned ship without the collision risk at the next moment as the state of the unmanned ship at the current moment; and 6, finally realizing autonomous collision avoidance of the unmanned ship to dynamic and static obstacles. According to the method, the characteristic that constraints in multiple aspects can be considered through model predictive control is utilized, the influence of factors such as inland river navigation rules, unmanned ship kinematics constraints and channel conditions is comprehensively considered, rolling optimization is continuously conducted on the unmanned ship, accordingly, a path without collision risks is calculated, and autonomous collision avoidance of the unmanned ship to dynamic and static obstacles is achieved.