Unmanned ship navigation control method and system, storage medium and computer equipment
A control method and ship technology, applied in the field of unmanned ship navigation control, can solve the problems of lack of control accuracy and robustness, huge data processing content, uncertain internal parameters, etc.
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[0045] In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:
[0046] Such as figure 1 with figure 2 Shown: a kind of unmanned ship navigation control method, comprises the following steps:
[0047] Collect the actual heading angle information, actual rudder angle information and actual latitude and longitude information of the unmanned vessel;
[0048] In the case of receiving the set latitude and longitude transmitted by the user, according to the actual latitude and longitude information, the LOS angle value is obtained through the LOS guidance algorithm and used as the set heading angle, the heading controller based on trajectory linearization is used as the inner loop, and the LOS guidance algorithm Track control of unmanned ships for the outer ...
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