Marine net cage unmanned ship intelligent inspection method based on buoy network and TDoA positioning

By building a float network in the marine cage breeding area, combining TDoA positioning and adaptive UKF fusion technology, the positioning accuracy and path planning problems of unmanned ships in cage dense areas are solved, efficient and safe unmanned ship inspections are achieved, and the intelligent level of breeding management is improved.

CN120403642APending Publication Date: 2025-08-01GUANGDONG OCEAN UNIVERSITY
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Patent Information

Application Number
CN202510519677.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-04-24
Publication Date
2025-08-01

AI Technical Summary

Technical Problem

The existing unmanned ship inspection technology has problems such as low positioning accuracy, susceptible to environmental interference, unsafe path planning and irregularity in marine cage breeding areas, and it is difficult to meet the needs of efficient and independent inspections.

Method used

Using a method based on buoy network and TDoA positioning, an intelligent buoy network is built, combined with UWB TDoA positioning, improved A* algorithm and adaptive UKF fusion technology, the high-precision position estimation and path planning of unmanned ships are realized, ensuring autonomous, safe and efficient patrols of unmanned ships in dense cage areas.

Benefits of technology

It achieves centimeter-level positioning accuracy, improves the robustness and safety of patrols, reduces collision risks, improves patrol efficiency and coverage, reduces labor costs, and enhances information support and battery life.

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Abstract

The invention provides an ocean net cage unmanned ship intelligent inspection method based on a buoy network and TDoA positioning, and the method comprises the steps: constructing an intelligent buoy network in an ocean net cage culture area, and obtaining a refined grid map; performing global path planning by adopting an improved A * algorithm to generate a global reference path; the unmanned ship transmits a UWB signal to the navigation buoy, the current position of the unmanned ship is solved based on a TDoA principle and an LM algorithm, and a TDoA positioning result is obtained; the self-adaptive UKF is used for fusing the state information of the unmanned ship and the TDoA positioning result, and high-precision position estimation of the unmanned ship is obtained; and finally, the unmanned ship executes an autonomous inspection task according to the global reference path, and precise path tracking and calibration are realized by utilizing PID (Proportion Integration Differentiation) control. According to the invention, autonomous, safe and efficient inspection of the unmanned ship in a net cage dense area can be realized, the intelligent level of breeding management is improved, and the system is especially suitable for application scenes with high positioning precision requirements.
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