Multi-channel control method for remote control unmanned ship

Abstract

The invention provides a multi-channel control method for a remote control unmanned ship. The multi-channel control method comprises the following steps: distributing different communication address codes for an upper computer remote control end and a remote control unmanned ship controlled end; the upper computer remote control end sends remote control data with timestamps to the remote control unmanned ship controlled end through the plurality of communication channels after priority ranking; the remote control unmanned ship controlled end compares the remote control data received by the multiple communication channels at the same moment, and only when the remote control data of at least two communication channels are consistent, the remote control data are analyzed into a remote control instruction; the remote control unmanned ship controlled end controls the remote control unmanned ship to sail according to the remote control instruction; the remote control unmanned ship controlled end calculates quality evaluation parameters of each communication channel and feeds back the quality evaluation parameters to the upper computer remote control end, and the quality evaluation parameters comprise average time delay, average signal strength, packet loss rate, bandwidth, communication channel stability, data throughput, bit error rate and average echo delay; and the remote control end of the upper computer performs quality evaluation and priority ranking on the communication channels.

Description

Technical Field

[0001] The present invention relates to the field of remote-controlled unmanned ships, and in particular to a multi-channel control method for remote-controlled unmanned ships. Background Art

[0002] As an important maritime application platform in the future, remote-controlled unmanned ships are an important development direction for unmanned equipment at sea in various countries. The remote control method of remote-controlled unmanned ships traditionally relies on a single communication channel or a combination of two communication channels as a backup. When the communication quality of the existing system is greatly affected by the electromagnetic environment and causes communication interruption, there is a certain time error in the process of switching the communication channel, which can easily cause the unmanned ship to lose control, thereby causing safety hazards. Therefore, improving the communication stability and reliability control capabilities of remote-controlled unmanned ships has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] In view of the problems existing in the prior art, an embodiment of the present invention provides a remote control unmanned ship multi-channel control method, which is applied to a remote control unmanned ship multi-channel control system, including a host computer remote control end, a communication channel device, and a remote control unmanned ship controlled end, including the following steps:

[0004] S1: Assign different communication address codes to the host computer remote control end and the remote control unmanned ship controlled end;

[0005] S2: The host computer remote control terminal sends the remote control data with time stamp to the remote control unmanned ship controlled terminal through multiple communication channels sorted by priority;

[0006] S3: The controlled end of the remote-controlled unmanned ship receives the remote control data from multiple communication channels, compares the remote control data received from multiple communication channels at the same time, and interprets the remote control data into remote control instructions only when the remote control data from at least two communication channels are consistent;

[0007] S4: The controlled end of the remote-controlled unmanned boat controls the navigation of the remote-controlled unmanned boat according to the remote-controlled command, and feedbacks to the upper computer remote-controlled end that the remote-controlled data has been received and interpreted as the remote-controlled command has been successfully executed;

[0008] S5: The controlled end of the remote-controlled unmanned ship calculates the quality evaluation parameters of each communication channel and feeds them back to the host computer remote control end, where the quality evaluation parameters include average delay, average signal strength, packet loss rate, bandwidth, communication channel stability, data throughput, bit error rate and average reverberation delay;

[0009] S6: The host computer remote control terminal performs communication channel quality evaluation and priority sorting according to the quality evaluation parameters of each communication channel;

[0010] S7: Repeat steps S2-S6 to continue controlling the remote-controlled unmanned ship and perform quality assessment and priority sorting on the communication channels.

[0011] Optionally, the multiple communication channels are shortwave communication channels, ultrashortwave communication channels, narrowband communication channels, broadband communication channels, and Ku / Ka satellite communication channels, and each communication channel independently transmits and receives remote control data or remote control unmanned ship information.

[0012] Optionally, the step S5 specifically includes:

[0013] The average delay of each communication channel is calculated based on the timestamp of the data received by the controlled end of the remote-controlled unmanned ship and the timestamp of the data sent by the host computer remote control end. The formula is as follows:

[0014]

[0015] Where N is the number of data transmissions, T send，i is the sending time of the communication channel at the i-th transmission, T receive，i is the receiving time of the communication channel at the i-th transmission;

[0016] The average signal strength of each communication channel is calculated based on the communication channel signal strength value measured by the data transmission of each communication channel within the time window. The formula is as follows:

[0017]

[0018] Where N is the number of signal strength measurements, S signal，i is the signal strength value measured for the i-th time;

[0019] The packet loss rate of each communication channel is calculated based on the number of data packets received by the controlled end of the remote-controlled unmanned ship and the number of data packets sent by the host computer remote control end within the time window. The formula is as follows:

[0020]

[0021] Among them, N received is the number of data packets received by the controlled end of the remote controlled unmanned ship within the time window, N sent It is the number of data packets sent by the host computer remote control terminal within the time window;

[0022] The bandwidth of each communication channel is calculated based on the amount of data received by the controlled end of the remote-controlled unmanned ship within the time window. The formula is as follows:

[0023]

[0024] Among them, S data,i is the amount of data transmitted for the i-th time in the time window, and ΔT is the duration of the time window;

[0025] The communication channel stability is calculated based on the available time of each communication channel monitored within the time window, and the formula is as follows:

[0026]

[0027] Among them, T available is the available time of the communication channel in the time window, T total is the total duration of the time window;

[0028] Calculate the data throughput of each communication channel within the time window, the formula is as follows:

[0029]

[0030] Among them, S total is the total amount of data transmitted through the communication channel within the time window, T total is the total duration of the time window;

[0031] By comparing the data received and sent by each communication channel within the time window, the number of data error bits is obtained and the bit error rate of each communication channel is calculated. The formula is as follows:

[0032]

[0033] Among them, N error bits is the number of data error bits detected in the time window, N total bits is the total number of data bits transmitted in the time window;

[0034] The host computer remote control sends the echo test signal to the remote control unmanned boat controlled end through multiple communication channels and calculates the average echo delay. The formula is as follows:

[0035]

[0036] Where N is the number of times the echo test signal is sent, Tsend,i is the time when the i-th echo test signal is sent, and T return,i is the return time of the i-th echo test signal.

[0037] Optionally, the step S6 specifically includes:

[0038] Initial screening of latency and reverberation delay: mark the communication channels with average latency less than the latency threshold as low latency communication channels, record the maximum reverberation delay and the minimum reverberation delay, mark the communication channels with reverberation delay fluctuation less than the reverberation delay fluctuation threshold or the average reverberation delay less than the reverberation delay threshold as low latency communication channels, and the communication channels marked as low latency communication channels and low-latency communication channels enter the next step of screening;

[0039] Signal strength and packet loss rate screening stage: Communication channels with average signal strength greater than the signal strength threshold are marked as excellent signal communication channels, and communication channels with packet loss rates less than the packet loss rate threshold are marked as highly reliable communication channels. Communication channels marked as both excellent signal communication channels and highly reliable communication channels enter the next step of screening;

[0040] Bandwidth and data throughput screening stage: Communication channels with bandwidths less than the bandwidth threshold are marked as excellent bandwidth communication channels, and communication channels with data throughputs greater than the data throughput threshold are marked as excellent throughput communication channels. Communication channels marked as both excellent bandwidth communication channels and excellent throughput communication channels enter the next screening step.

[0041] Bit error rate screening stage: the communication channels with bit error rates less than the bit error rate threshold are marked as low bit error rate communication channels, and the communication channels marked as low bit error rate communication channels enter the next step of screening;

[0042] Communication channel stability comprehensive screening stage: marking the communication channels whose communication channel stability is greater than the communication channel stability threshold as high-stability communication channels;

[0043] The system will determine the communication channels that pass all screening steps as preferred communication channels for transmitting key remote control data; determine the communication channels that pass the first three screening steps as secondary communication channels for secondary data transmission or for activation when the preferred communication channels fail; and determine the communication channels that pass the first two screening steps as backup communication channels for activation when the preferred communication channels and secondary communication channels fail.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. Real-time dynamic communication channel quality assessment and priority sorting: Based on average delay, average signal strength, packet loss rate, bandwidth, communication channel stability, data throughput, bit error rate and average reverberation delay as important parameters for evaluating communication channel quality, the communication quality of the communication channel can be judged in real time and prioritized, which can effectively cope with harsh maritime environments and enemy interference to ensure that key instructions are delivered in a timely manner.

[0046] 2. Dynamic communication channel priority adjustment: Dynamically adjust the communication channel priority based on the quality assessment results of the communication channel to ensure that remote control data can be transmitted through the optimal communication channel in complex sea conditions and electromagnetic interference environments, thereby ensuring the operational stability and safety of the unmanned ship.

[0047] 3. Multi-communication channel synchronous comparison mechanism: The remote control data received at the same time is compared through multiple communication channels to ensure the consistency and accuracy of the data, greatly improving the execution reliability of remote control commands. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of the overall flow of a multi-channel control method for a remote-controlled unmanned ship is provided for an embodiment of the present invention;

[0050] Figure 2 A schematic structural diagram of a multi-communication channel control system for a remote-controlled unmanned ship is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] Figure 1 This is a schematic diagram of the structure of a remote control unmanned ship multi-communication channel control system based on the present disclosure, such as Figure 1 As shown, the system comprises:

[0053] The host computer remote control terminal 105 uses the communication channel device 1 101, the communication channel device 2 102, the communication channel device 3 103, and the communication channel device 4 104 to send remote control data to the remote control unmanned boat controlled terminal and receive remote control unmanned boat information.

[0054] The remote controlled unmanned boat controlled terminal 106 receives the remote control data by using the communication channel device 1 101 , the communication channel device 2 102 , the communication channel device 3 103 , and the communication channel device 4 104 , and feeds back the remote controlled unmanned boat information to the upper computer remote control terminal 105 .

[0055] Communication channel device one 101, communication channel device two 102, communication channel device three 103, and communication channel device four 104 are selected from shortwave communication channels, ultra-shortwave communication channels, narrowband communication channels, broadband communication channels, and Ku / Ka satellite communication channel devices, and are not limited to a specific type of communication channel device. Of course, other wireless communication channels that can be used for remote control can also be used as alternatives.

[0056] Figure 2A remote control unmanned ship multi-channel control method provided by an embodiment of the present invention is applied to the remote control unmanned ship multi-communication channel control system, such as Figure 2 As shown, the following steps are included:

[0057] S1: Assign different communication address codes to the host computer remote control end and the remote control unmanned ship controlled end;

[0058] The host computer remote control end can send remote control data to multiple remote control unmanned boat controlled ends according to the communication address code to remotely control multiple remote control unmanned boats. Multiple remote control unmanned boat controlled ends can send remote control unmanned boat information back to the same host computer remote control end according to the communication address code to centrally manage the remote control unmanned boat information.

[0059] S2: The host computer remote control terminal sends the remote control data with time stamp to the remote control unmanned ship controlled terminal through multiple communication channels sorted by priority;

[0060] The various communication channels include shortwave communication channels, ultrashortwave communication channels, narrowband communication channels, broadband communication channels, and Ku / Ka satellite communication channels. Each communication channel independently transmits and receives remote control data or remote control unmanned ship information.

[0061] All remote control data sent by all communication channels need to be timestamped, which can be provided uniformly by the Beidou system to ensure that the same remote control data received by different communication channels can be effectively compared at the same time, avoiding data mismatch problems caused by delays in different communication channels. For example, the same instruction received by shortwave and ultra-shortwave may come from two instructions sent previously, but a unified timestamp can ensure that they are instructions from the same time, allowing for effective comparison.

[0062] The detailed process of priority sorting is described in the following steps. This step sends the remote control data with time stamp to the controlled end of the remote control unmanned ship through multiple communication channels after priority sorting.

[0063] S3: The controlled end of the remote-controlled unmanned ship receives the remote control data from multiple communication channels, compares the remote control data received from multiple communication channels at the same time, and interprets the remote control data into remote control instructions only when the remote control data from at least two communication channels are consistent;

[0064] At the same time, the controlled end of the remote-controlled unmanned ship synchronously compares the remote control data received through multiple communication channels (such as shortwave, ultra-shortwave, narrowband, broadband, Ku / Ka satellite communication channels, etc.). The purpose of the comparison is to confirm the consistency of the data in multiple communication channels. Only when two or more remote control data received by multiple communication channels are completely matched, the data will be retained and parsed into remote control commands (control commands, contact commands). This step improves the accuracy of the data and the execution reliability of the remote control commands, avoids mismatches caused by delay differences, and effectively prevents misoperation in complex electromagnetic environments, as well as sudden interference from other communication channels, enemy interference data, etc.

[0065] S4: The controlled end of the remote-controlled unmanned boat controls the navigation of the remote-controlled unmanned boat according to the remote-controlled command, and feedbacks to the upper computer remote-controlled end that the remote-controlled data has been received and interpreted as the remote-controlled command has been successfully executed;

[0066] To ensure the correct reception and execution of commands, the system adds a special feedback mechanism to the upper and lower computer protocols. After each data transmission is completed, the remote-controlled unmanned boat controlled end will feedback to the upper computer remote control end to confirm that the data has been received and interpreted as the remote control command has been successfully executed.

[0067] S5: The controlled end of the remote-controlled unmanned ship calculates the quality evaluation parameters of each communication channel and feeds them back to the host computer remote control end, where the quality evaluation parameters include average delay, average signal strength, packet loss rate, bandwidth, communication channel stability, data throughput, bit error rate and average reverberation delay;

[0068] To ensure that the unmanned ship always obtains the best communication quality in complex sea conditions and electromagnetic environments, the system evaluates the communication channel quality based on a variety of quality evaluation parameters, including: average delay, average signal strength, packet loss rate, bandwidth, communication channel stability, data throughput, bit error rate and average reverberation delay.

[0069] 1) Delay: It is important to judge whether the communication channel can meet the real-time requirements, especially for the transmission of key remote control commands. The average delay of each communication channel is calculated based on the timestamp of the data received by the remote control unmanned ship controlled end and the timestamp of the data sent by the host computer remote control end. The formula is as follows:

[0070]

[0071] Where N is the number of data transmissions, T send，i is the sending time of the communication channel at the i-th transmission, T receive，i is the receiving time of the communication channel at the i-th transmission;

[0072] 2) Signal strength: Determine the signal strength of the communication channel to prevent communication interruption due to signal weakening. Calculate the average signal strength of each communication channel based on the communication channel signal strength value measured during data transmission of each communication channel within the time window. The formula is as follows:

[0073]

[0074] Where N is the number of signal strength measurements, S signal，i is the signal strength value measured for the i-th time;

[0075] 3) Packet loss rate: It measures the reliability of data transmission in the communication channel. A high packet loss rate indicates that the channel is unreliable. The packet loss rate of each communication channel is calculated based on the number of data packets received by the remote control unmanned ship controlled end and the number of data packets sent by the host computer remote control end within the time window. The formula is as follows:

[0076]

[0077] Among them, N received is the number of data packets received by the controlled end of the remote controlled unmanned ship within the time window, N sent It is the number of data packets sent by the host computer remote control terminal within the time window;

[0078] 4) Bandwidth: Evaluate the capacity of the channel in data transmission to ensure that there is sufficient bandwidth when transmitting data. Calculate the bandwidth of each communication channel based on the amount of data received by the controlled end of the remote-controlled unmanned ship within the time window. The formula is as follows:

[0079]

[0080] Among them, S data,i is the amount of data transmitted for the i-th time in the time window, and ΔT is the duration of the time window;

[0081] 5) Channel stability: Channel stability reflects the continuity of the communication channel. The communication channel stability is calculated based on the available time of each communication channel monitored within the time window. The formula is as follows:

[0082]

[0083] Among them, T available is the available time of the communication channel in the time window, T total is the total duration of the time window;

[0084] 6) Data throughput: measures the total amount of data transmitted by a communication channel. High data throughput ensures stable transmission when high data transmission rates are required. The data throughput of each communication channel in a time window is calculated using the following formula:

[0085]

[0086] Among them, S total is the total amount of data transmitted through the communication channel within the time window, T total is the total duration of the time window;

[0087] 7) Bit error rate: The data transmission accuracy of the crossbeam communication channel. A low bit error rate indicates that the communication channel is reliable. The number of data error bits is obtained by comparing the data received and sent by each communication channel within the time window and calculating the bit error rate of each communication channel. The formula is as follows:

[0088]

[0089] Among them, N error bits is the number of data error bits detected in the time window, N total bits is the total number of data bits transmitted in the time window;

[0090] 8) Echo delay: It measures the responsiveness of the communication channel. Low echo delay indicates good two-way response. The host remote control sends an echo test signal to the remote control unmanned boat controlled end through multiple communication channels and calculates the average echo delay. The formula is as follows:

[0091]

[0092] Where N is the number of times the echo test signal is sent, Tsend,i is the time when the i-th echo test signal is sent, and T return,i is the return time of the i-th echo test signal.

[0093] S6: The host computer remote control terminal performs communication channel quality evaluation and priority sorting according to the quality evaluation parameters of each communication channel;

[0094] Initial screening of latency and reverberation delay: exclude communication channels with long latency and unstable reverberation delay to ensure the real-time performance of subsequent data transmission, mark communication channels with average latency less than the latency threshold as low-latency communication channels, record the maximum reverberation delay and minimum reverberation delay, mark communication channels with reverberation delay fluctuation less than the reverberation delay fluctuation threshold or average reverberation delay less than the reverberation delay threshold as low-latency communication channels, and the communication channels marked as low-latency communication channels and low-latency communication channels enter the next step of screening;

[0095] For example, within a 10-second time window, measure the average delay of each communication channel, and screen out communication channels with a delay greater than 200ms. Perform multiple round-trip measurements within a short time window (such as 5 seconds), record the maximum and minimum echo delays, and screen out communication channels with echo delay fluctuations exceeding 100ms or average echo delays exceeding 300ms. These channels are not suitable for critical data transmission, and only communication channels that meet the latency and echo delay requirements can enter the next screening stage.

[0096] Signal strength and packet loss rate screening stage: ensure that the communication channels entering the next screening stage have stable signal strength and low packet loss rate, reduce data transmission interruption and data loss, mark the communication channels with average signal strength greater than the signal strength threshold as excellent signal communication channels, and mark the communication channels with packet loss rate less than the packet loss rate threshold as highly reliable communication channels. At the same time, the communication channels marked as excellent signal communication channels and highly reliable communication channels enter the next screening stage;

[0097] For example, communication channels with signal strength lower than 80dBm and packet loss rate higher than 5% are screened out from the communication channels screened in the previous step, and only communication channels meeting the signal strength and packet loss rate requirements can enter the next screening stage.

[0098] Bandwidth and data throughput screening stage: ensure that the remaining channels can still transmit stably when the data volume is large, meet the needs of transmitting extended data (such as video), mark the communication channels with bandwidth less than the bandwidth threshold as excellent bandwidth communication channels, and mark the communication channels with data throughput greater than the data throughput threshold as excellent throughput communication channels. The communication channels marked as excellent bandwidth communication channels and excellent throughput communication channels enter the next step of screening;

[0099] For example, communication channels with bandwidth lower than 500 kbps and data throughput lower than 1 MB / min are screened out from the communication channels screened in the previous step, and only communication channels that meet the bandwidth and data throughput requirements can enter the next screening stage.

[0100] Bit error rate screening stage: ensure the accuracy of transmitted data, reduce the bit errors caused by signal interference and environmental changes, mark the communication channels with bit error rates less than the bit error rate threshold as low bit error rate communication channels, and the communication channels marked as low bit error rate communication channels enter the next step of screening;

[0101] For example, communication channels with a bit error rate higher than 0.1% are screened out from the communication channels screened in the previous step, and only communication channels with a bit error rate lower than 0.1% can enter the next stage.

[0102] Communication channel stability comprehensive screening stage: Screen out communication channels that remain stable for a long time to ensure the persistence and reliability of key instruction transmission, and mark communication channels whose communication channel stability is greater than the communication channel stability threshold as high-stability communication channels;

[0103] For example, the available time and unavailable time of each communication channel are recorded within a time window of 1 hour, the stability score is calculated, and the communication channels with stability scores lower than 0.99 are screened out from the communication channels screened in the previous step.

[0104] The system will determine the communication channels that pass all screening steps as preferred communication channels for transmitting key remote control data; determine the communication channels that pass the first three screening steps as secondary communication channels for secondary data transmission or for activation when the preferred communication channels fail; and determine the communication channels that pass the first two screening steps as backup communication channels for activation when the preferred communication channels and secondary communication channels fail.

[0105] This dynamic priority adjustment mechanism ensures that remote control data can be transmitted through the optimal communication channel in complex sea conditions and electromagnetic interference environments, ensuring the operational stability and safety of the unmanned ship.

[0106] S7: Repeat steps S2-S6 to continue controlling the remote-controlled unmanned ship and perform quality assessment and priority sorting on the communication channels.

[0107] The present invention effectively solves the problems of unstable communication channels and frequent interference in harsh marine environments, and significantly improves the communication reliability and operational safety of the unmanned ship system.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote control unmanned ship multi-channel control method, applied to a remote control unmanned ship multi-channel control system, including a host computer remote control end, a communication channel device, and a remote control unmanned ship controlled end, characterized in that: The following steps are involved: S1: Assign different communication address codes to the host computer remote control end and the remote control unmanned ship controlled end; S2: The host computer remote control terminal sends the remote control data with time stamp to the remote control unmanned ship controlled terminal through multiple communication channels sorted by priority; S3: The controlled end of the remote-controlled unmanned ship receives the remote control data from multiple communication channels, compares the remote control data received from multiple communication channels at the same time, and interprets the remote control data into remote control instructions only when the remote control data from at least two communication channels are consistent; S4: The controlled end of the remote-controlled unmanned boat controls the navigation of the remote-controlled unmanned boat according to the remote-controlled command, and feedbacks to the upper computer remote-controlled end that the remote-controlled data has been received and interpreted as the remote-controlled command has been successfully executed; S5: The controlled end of the remote-controlled unmanned ship calculates the quality evaluation parameters of each communication channel and feeds them back to the host computer remote control end, where the quality evaluation parameters include average delay, average signal strength, packet loss rate, bandwidth, communication channel stability, data throughput, bit error rate and average reverberation delay; S6: The host computer remote control terminal performs communication channel quality evaluation and priority sorting according to the quality evaluation parameters of each communication channel; S7: Repeat steps S2-S6 to continue controlling the remote-controlled unmanned ship and perform quality assessment and priority sorting on the communication channels.

2. A multi-channel control method for remote-controlled unmanned ships according to claim 1, characterized in that: The multiple communication channels are shortwave communication channels, ultrashortwave communication channels, narrowband communication channels, broadband communication channels, and Ku / Ka satellite communication channels. Each communication channel independently transmits and receives remote control data or remote control unmanned ship information.

3. A multi-channel control method for remote-controlled unmanned ships according to claim 1, characterized in that: The step S5 specifically includes: The average delay of each communication channel is calculated based on the timestamp of the data received by the controlled end of the remote-controlled unmanned ship and the timestamp of the data sent by the host computer remote control end. The formula is as follows: Where N is the number of data transmissions, T send，i is the sending time of the communication channel at the i-th transmission, T receive，i is the receiving time of the communication channel at the i-th transmission; The average signal strength of each communication channel is calculated based on the communication channel signal strength value measured by the data transmission of each communication channel within the time window. The formula is as follows: Where N is the number of signal strength measurements, S signal，i is the signal strength value measured at the i-th time; The packet loss rate of each communication channel is calculated based on the number of data packets received by the controlled end of the remote-controlled unmanned ship and the number of data packets sent by the host computer remote control end within the time window. The formula is as follows: Among them, N received is the number of data packets received by the controlled end of the remote controlled unmanned ship within the time window, N sent It is the number of data packets sent by the host computer remote control terminal within the time window; The bandwidth of each communication channel is calculated based on the amount of data received by the controlled end of the remote-controlled unmanned ship within the time window. The formula is as follows: Among them, S data,i is the amount of data transmitted for the i-th time in the time window, and ΔT is the duration of the time window; The communication channel stability is calculated based on the available time of each communication channel monitored within the time window, and the formula is as follows: Among them, T available is the available time of the communication channel in the time window, T total is the total duration of the time window; Calculate the data throughput of each communication channel within the time window, the formula is as follows: Among them, S total is the total amount of data transmitted through the communication channel within the time window, T total is the total duration of the time window; By comparing the data received and sent by each communication channel within the time window, the number of data error bits is obtained and the bit error rate of each communication channel is calculated. The formula is as follows: Among them, N errorbits is the number of data error bits detected in the time window, N totalbits is the total number of data bits transmitted in the time window; The host computer remote control sends the echo test signal to the remote control unmanned boat controlled end through multiple communication channels and calculates the average echo delay. The formula is as follows: Where N is the number of times the echo test signal is sent, Tsend,i is the time when the i-th echo test signal is sent, and T return,i is the return time of the i-th echo test signal.

4. A multi-channel control method for remote-controlled unmanned ships according to claim 3, characterized in that: The step S6 specifically includes: Initial screening of latency and reverberation delay: mark the communication channels with average latency less than the latency threshold as low latency communication channels, record the maximum reverberation delay and the minimum reverberation delay, mark the communication channels with reverberation delay fluctuation less than the reverberation delay fluctuation threshold or the average reverberation delay less than the reverberation delay threshold as low latency communication channels, and the communication channels marked as low latency communication channels and low-latency communication channels enter the next step of screening; Signal strength and packet loss rate screening stage: Communication channels with average signal strength greater than the signal strength threshold are marked as excellent signal communication channels, and communication channels with packet loss rates less than the packet loss rate threshold are marked as highly reliable communication channels. Communication channels marked as both excellent signal communication channels and highly reliable communication channels enter the next step of screening; Bandwidth and data throughput screening stage: Communication channels with bandwidths less than the bandwidth threshold are marked as excellent bandwidth communication channels, and communication channels with data throughputs greater than the data throughput threshold are marked as excellent throughput communication channels. Communication channels marked as both excellent bandwidth communication channels and excellent throughput communication channels enter the next screening step. Bit error rate screening stage: the communication channels with bit error rates less than the bit error rate threshold are marked as low bit error rate communication channels, and the communication channels marked as low bit error rate communication channels enter the next step of screening; Channel stability comprehensive screening stage: marking the communication channels whose communication channel stability is greater than the communication channel stability threshold as high-stability communication channels; The system will determine the communication channels that pass all screening steps as preferred communication channels for transmitting key remote control data; determine the communication channels that pass the first three screening steps as secondary communication channels for secondary data transmission or for activation when the preferred communication channels fail; and determine the communication channels that pass the first two screening steps as backup communication channels for activation when the preferred communication channels and secondary communication channels fail.

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