Automatic homeward voyaging method and automatic homeward voyaging system of unmanned boat

Abstract

The invention relates to an automatic homeward voyaging method and an automatic homeward voyaging system of an unmanned boat. The automatic homeward voyaging method includes the following steps: 1, recording starting point GNSS (global navigation satellite system) information and standby homeward voyaging point GNSS information during starting; 2, judging the homeward voyaging state according to preset conditions; 3, monitoring new homeward voyaging point GNSS information; 4, judging the homeward voyaging phase according to current local GNSS information and the homeward voyaging point GNSS information; 5, re-planning a homeward voyaging path when the homeward voyaging phase or the homeward voyaging point GNSS information changes; 6, looking for a recovery device in an area of a homeward voyaging point according to a beacon; 7, selecting a navigation control mode according to the homeward voyaging phase of the unmanned boat; 8, correcting the voyage direction according to relative position postures of the unmanned boat and the recovery device until competition of homeward voyaging. The automatic homeward voyaging method and the automatic homeward voyaging system are applicable to two basic situations of returning to a mother ship recovery device and returning to a mother harbor recovery device, an automatic homeward voyaging technology based on a far-to-near rule and with continuously-improved environment sensory ability is achieved through three homeward voyaging phases, three path generation rules and three navigation control modes, and the technology can provide support for follow-up functions (such as self-supply and self-maintenance).

Description

technical field [0001] The invention relates to the technical field of automatic control of surface unmanned boats, in particular to a method and system for automatic return of unmanned boats. Background technique [0002] In recent years, with the improvement of the level of science and technology and the proposal of the ocean development strategy, the related technologies of unmanned boats have entered a stage of rapid development. As a new type of surface equipment, unmanned boats can perform tasks such as coastline surveying and mapping, offshore environmental monitoring, and ocean patrol. At present, the release and recovery of unmanned boats mainly rely on manual remote control and mechanical recovery devices. In order to improve the automation level of unmanned boats, reduce personnel participation, and even achieve long-term completely independent operation, it is necessary to solve the problem of automation in the launch and recovery stages of unmanned boats. Comp...

AI Technical Summary

Problems solved by technology

Compared with putting in, it is more difficult to recover due to problems such as finding the recovery area, positioning the recovery device, and adjusting the posture during the docking process.

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