A dynamic positioning method for unmanned boat based on jet pump power and unmanned boat

Abstract

The present invention discloses a method for power positioning of an unmanned boat based on jet pump power and an unmanned boat, wherein the unmanned boat is provided with left and right jet pumps and left and right dump buckets, and is characterized in that the method comprises the following steps: (1) a method for lateral translation of the unmanned boat; (2) a humanoid rudder return strategy for the unmanned boat; and (3) a method for power positioning driving of the unmanned boat based on position. The present invention realizes the function of power positioning of the unmanned boat through the method for lateral translation of the unmanned boat, the humanoid rudder return strategy and the method for power positioning driving based on position, solves the problems of difficulty in lateral movement of the unmanned boat and vibration caused by motion inertia, and drives the unmanned boat to realize the power positioning function. The present invention can meet the requirements of most unmanned boats based on jet pumps to complete standby at a designated position, on-site detection, and retraction and deployment of load equipment, so that unmanned boats with these task requirements do not need to be equipped with positioning equipment such as anchor chains.

Description

Technical Field

[0001] The present invention belongs to the technical field of autonomous navigation control of surface unmanned boats, and in particular relates to a power positioning method for an unmanned boat based on jet pump power and the unmanned boat. Background Art

[0002] In recent years, with the continuous development of navigation, control, and perception technologies, the capabilities of surface unmanned boats (UAVs) in mission planning, path tracking, and autonomous situational awareness have been increasingly improved, making it possible for them to replace manned vessels in completing tedious and dangerous tasks. When performing missions, UAVs are often required to stand by at designated locations or remain in place for detection. Furthermore, when deploying or retrieving a designated payload, the UAV must remain in place with a stable bow to protect the payload's safety. Surface UAVs are generally not equipped with anchor chains or are unable to deploy or retract anchor chains during autonomous navigation. This requires the UAV to use its own power to resist interference from the external environment and remain in a designated location. Furthermore, since UAVs are rarely equipped with bow and stern thrusters, achieving bow stability and lateral translation is extremely challenging. To address these two issues, the present invention proposes a jet-powered UAV dynamic positioning method and UAV, which effectively solves the problems of bow stability and lateral translation. Combined with a position-based drive method, this method achieves the dynamic positioning of the UAV. Summary of the Invention

[0003] The purpose of the present invention is to provide an unmanned boat dynamic positioning method based on jet pump power and an unmanned boat, which can enable the unmanned boat to achieve bow stability and stay at a specified position without relying on anchor chains and only using the power of dual jet pumps, so as to meet the requirements of the unmanned boat staying in place or equipment deployment.

[0004] The technical solutions of the present invention are as follows:

[0005] A method for power positioning of an unmanned boat based on jet pump power, wherein the unmanned boat is provided with left and right jet pumps and left and right dump buckets, and the method comprises the following steps:

[0006] (1) Sideways translation method of unmanned boat

[0007] Make the left and right rudder angles of the unmanned boat consistent; the rudder angle of the unmanned boat is the nozzle direction of the unmanned boat's jet pump, and the nozzle directions of the two jet pumps are one left and one right;

[0008] Get the current speed v, heading C0, and heading H0 of the unmanned boat; decompose the current speed v of the unmanned boat into a coordinate system with the heading direction as the Y axis:

[0009] v y =v*cos(C0-H0)

[0010] Set the threshold v T>0, if -v T ≤v y ≤v T , then the unmanned boat is considered to have no speed in the bow direction; if v y Greater than the threshold v T , then set the dump bucket control amount to ΔB; if v y Less than threshold - T , then set the dump bucket control amount to -;

[0011] Get the lateral translation direction of the unmanned boat; if it translates to the left, the left dump bucket is lowered to the reverse position, and the dump bucket control amount is added to the right dump bucket every time T until -v T ≤v y ≤v T If it moves to the right, the right dump bucket is lowered to the reverse position, and the dump bucket control amount is added to the left dump bucket every time T until -v T ≤v y ≤v T ;

[0012] Get the desired heading H of the unmanned boat E , calculate and obtain the superimposed rudder angle ΔR; superimpose the first rudder angle ΔR on the left and right rudder angles of the unmanned boat at the same time;

[0013] (2) Unmanned Boat Humanoid Steering Strategy

[0014] If the last bucket control value is FORWARD and the current bucket control value is STOP, the unmanned boat will retreat for a set time T h ;

[0015] If the last bucket control value is BACK and the current bucket control value is STOP, the unmanned boat will move forward for a set time T h ;

[0016] Otherwise, the unmanned boat executes the current dump bucket control value;

[0017] (3) Position-based unmanned boat dynamic positioning drive method

[0018] Establish a coordinate system with the desired positioning point as the origin and the desired heading as the positive direction of the Y axis; obtain the current position (x, y) and heading H of the unmanned boat;

[0019] ① If the UAV is within the positioning area, that is, -D≤x≤D and -D≤y≤D, there is no need to adjust the position of the UAV. The current dump control value is set to STOP, that is, the boat stops. Set the heading error threshold E HM , if H>E HM or H<-E HM , then the second rudder angle is added to the left and right rudder angles of the unmanned boat at the same time;

[0020] ② If the current position of the unmanned boat satisfies y>D and -y×tan(E HM ) <x<y×tan(E HM ), the current dump bucket control value is set to BACK, that is, back, and the unmanned boat humanoid rudder strategy is called, and the left and right rudder angles are the angles from the current position of the unmanned boat to the origin;

[0021] ③ If the current position of the unmanned boat satisfies y<-D&-y×tan(E HM ) <x<y×tan(E HM ), the current dump bucket control value is set to FORWARD, that is, forward, the unmanned boat humanoid rudder strategy is called, and the left and right rudder angles are the angles from the origin to the current position of the unmanned boat;

[0022] ④ If the current position of the unmanned boat satisfies x>D, the lateral translation direction of the unmanned boat is set to the left, and the lateral translation method of the unmanned boat is called;

[0023] ⑤ If the current position of the unmanned boat satisfies x<-D, the lateral translation direction of the unmanned boat is set to right translation, and the lateral translation method of the unmanned boat is called.

[0024] Furthermore, when the unmanned boat moves horizontally to the left, the left dump bucket is lowered to the reverse position and the right dump bucket is raised; when the unmanned boat moves horizontally to the right, the left dump bucket is raised and the right dump bucket is lowered to the reverse position; when the unmanned boat moves forward, the left and right dump buckets are raised; when the unmanned boat moves backward, the left and right dump buckets are lowered to the reverse position; when the unmanned boat stops, the left and right spray pumps are turned off.

[0025] Furthermore, the left dump bucket B1, the right dump bucket B2, the left rudder angle R1, and the right rudder angle R2 when the unmanned boat moves left and right in still water are obtained as initial values ​​of the lateral translation of the unmanned boat.

[0026] Furthermore, the superimposed first steering angle ΔR is calculated by PD control, and the calculation formula is as follows:

[0027] E H =H E -H0

[0028]

[0029] Where P is the proportional coefficient and D is the differential coefficient.

[0030] Furthermore, in step (3), the latitude and longitude coordinates of the UAV are converted into Mercator coordinates, and then the Mercator coordinates are translated and rotated with the desired positioning point as the origin and the desired heading as the positive direction of the Y axis to obtain the current position (x, y) and heading H of the UAV:

[0031] x0=P C (x)-P E (x)

[0032] y0=P C (y)-P E (y)

[0033] x=x0 cos(H E )-y0 sin(H E )

[0034] y=x0 sin(H E )+y0 cos(H E )

[0035] H=H0-H E

[0036] Where, P C is the current position, P E is the desired position, P C (x) and P C (y) is the Mercator coordinate of the current position of the unmanned boat, P E (x) and P E (y) is the Mercator coordinate of the expected position of the unmanned boat, and x0 and y0 are intermediate quantities.

[0037] Furthermore, the second steering angle is -P×H, where P is a proportional coefficient.

[0038] An unmanned boat adopts any one of the above-mentioned unmanned boat dynamic positioning methods based on jet pump power.

[0039] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0040] This invention achieves dynamic positioning for the unmanned vehicle through a lateral translation method, a humanoid steering strategy, and a position-based dynamic positioning drive method. This solves the problems of lateral movement and oscillation caused by inertia, and enables the unmanned vehicle to achieve dynamic positioning. This invention can meet the requirements of most jet-based unmanned vehicles for designated position standby, in-situ detection, and payload deployment and retraction, eliminating the need for anchor chains and other positioning equipment for these tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of an unmanned boat based on jet pump power;

[0042] Figure 2 This is a schematic diagram of the force acting on the unmanned boat when it moves rightward;

[0043] Figure 3 This is a schematic diagram of the division of the unmanned boat's dynamic positioning area;

[0044] Figure 4This is a flow chart of a method for dynamic positioning of an unmanned boat according to an embodiment of the present invention;

[0045] Figure 5 This is a dynamic positioning trajectory diagram of an unmanned boat according to an embodiment of the present invention.

[0046] In the figure: 1-water jet propulsion, 2-tipping bucket. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0048] In order to meet the requirement of bow stability, the present invention designs a lateral translation method of an unmanned boat based on jet pump power, so that the unmanned boat can also meet the requirement of moving back to the designated position with a stable bow when there is a lateral position offset; in view of the characteristics of strong time lag and large inertia in the motion control of the unmanned boat, a human-like rudder return strategy is proposed to reduce the shock caused by the inertia of the unmanned boat movement; and in order to solve the problem of how to achieve dynamic positioning effects through various actions of the unmanned boat, a position-based unmanned boat dynamic positioning drive method is designed to drive the unmanned boat's translation, rotation, parking and other actions, so that the unmanned boat can stay at the designated position with a stable bow.

[0049] (1) Lateral translation method of unmanned boat based on jet pump power

[0050] like Figure 1 and Figure 2 As shown, the jet pump-powered unmanned boat is equipped with two water jet propulsion units 1 on the left and right, and two dump buckets 2 on the left and right. When the dump bucket 2 is raised, the water jet propulsion units 1 spray water backward, and the unmanned boat moves forward. When the dump bucket 2 is lowered to the reverse position, the water jet propulsion units 1 spray water in the reverse direction when passing through the dump bucket 2, that is, the water jet propulsion units 1 spray water forward through the dump bucket 2, and the unmanned boat moves backward.

[0051] First, it is necessary to test the approximate operating state of the unmanned boat in still water. Taking the rightward translation as an example, the specific test method is as follows: lift the left dump bucket and lower the right dump bucket to the reverse position, turn the nozzle direction (rudder angle) of the left and right water jet propulsion units to the left and right at the same angle respectively, observe and adjust the state of the unmanned boat, such as Figure 2 shown.

[0052] 1) Observe the speed of the UAV in the bow direction and adjust the left dump bucket: a) If the UAV has a forward speed in the bow direction, it means that F1 is greater than F2, and the left dump bucket needs to be gradually lowered until the forward speed roughly disappears; b) If the UAV has a backward speed in the bow direction, it means that F1 is less than F2, and the left dump bucket needs to be gradually raised until the backward speed roughly disappears.

[0053] 2) After the bow speed adjustment is completed, observe the changes in the bow of the unmanned boat and adjust the nozzle directions of the left and right water jet propulsion devices: a) If the bow of the unmanned boat deflects clockwise, it means that the force point of the unmanned boat is in the bow direction of the center of gravity, such as point O1. In this case, it is necessary to increase the nozzle direction angles of the left and right water jet propulsion devices at the same time to move the force point toward the stern until the force point coincides with point O and the bow no longer changes; b) If the bow of the unmanned boat deflects counterclockwise, it means that the force point of the unmanned boat is in the stern direction of the center of gravity, such as point O2. In this case, it is necessary to reduce the nozzle direction angles of the left and right water jet propulsion devices at the same time to move the force point toward the bow until the force point coincides with point O and the bow no longer changes.

[0054] 3) Repeat steps 1) and 2) two to three times to find the approximate control state of the unmanned boat moving horizontally to the right in still water (the same applies to the control state of moving horizontally to the left).

[0055] After the adjustment is completed, the magnitude of F1 is basically equal to F2, and the force point of the unmanned boat is basically coincident with the center of gravity O. At this time, the net force received by the unmanned boat is F, and the motion state is rightward translation. The same applies to leftward translation.

[0056] After completing the still-water translation parameter test, the UAV can perform translational maneuvers in still water under these control parameters. However, in the ocean, lake, or river, the UAV will be affected by wind, waves, and currents. Relying solely on the still-water control data to achieve translational control is not feasible. Adaptive adjustments to the UAV's control state are required to counteract these external influences. After completing the left and right translational control state adjustments in still water, record the control data for the left and right buckets (B1, B2) and rudder angles (R1, R2) to serve as the initial control state for actual translation. At this point, the influence of wind, waves, and currents on the UAV will be reflected in attitude changes. Therefore, the UAV's control state can be further fine-tuned by reading its own navigation data to counteract these external influences. This fine-tuning process is roughly divided into two parts: first, eliminating heading velocity, and second, controlling heading direction. The adaptive adjustment process will be illustrated using rightward translation as an example.

[0057] 1) Eliminate the speed in the heading direction. Read the current speed v, heading C0, and heading H0 of the unmanned boat in the longitude and latitude coordinates, and decompose the current speed and heading of the unmanned boat into a coordinate system with the heading direction as the Y axis:

[0058] vx =v*sin(C0-H0), (1)

[0059] v y =v*cos(C0-H0). (2)

[0060] Set a threshold v T >0, if -v T ≤v y ≤v T It is considered that the unmanned boat has no speed in the bow direction. y Greater than the threshold v T When , it means that there is forward speed under the influence of external factors, then the left dump bucket is superimposed with the dump bucket control amount ΔB every time T; if v y Less than threshold - T When , it means that there is a backward speed under the influence of the outside world, then the left dump bucket is superimposed with the dump bucket control amount - every time T until it reaches -v T ≤v y ≤v T .

[0061] 2) Control the heading of the unmanned boat. Read the current heading H0 and the desired heading H E Information, through PD control to obtain the superimposed rudder angle ΔR:

[0062] E H =H E -H0 (3)

[0063]

[0064] Where P is the proportional coefficient and D is the differential coefficient.

[0065] After obtaining the adjustment values ​​of the rudder angle and the tipping bucket, the final control value is obtained by superimposing the initial value and the adjustment value:

[0066] Left dump box B l =B1+ΔB, (5)

[0067] Right dump box B r =B2, (6)

[0068] Left rudder angle R l =R1+ΔR, (7)

[0069] Right rudder angle R r =R2+ΔR. (8)

[0070] After measuring the approximate translation control states B1, B2, R1, and R2 of the unmanned boat in still water, the pseudo code of the unmanned boat lateral translation adjustment algorithm is shown in Table 1.

[0071] Table 1 Lateral Movement of unmanned boat translation adjustment algorithm

[0072]

[0073]

[0074] (2) Humanoid steering strategy

[0075] When the UAV is maneuvering forward and backward, it moves at a relatively high speed. Upon reaching the positioning point, it experiences significant inertia. If the dump bucket is simply set to the neutral position at this point, it will move a considerable distance due to inertia, causing significant forward and backward positional jitter. Therefore, a strategy is necessary to offset the effects of inertia and minimize the UAV's deviation.

[0076] The humanoid rudder strategy imitates human behavior and makes the boat reach a stable bow or stop at a certain place by maneuvering in the opposite direction. When a person drives a boat to a certain place to stop, after arriving at the stop, he will operate in the opposite direction to enter the state to offset the inertia when entering the state. For example, after the forward vehicle reaches the stop position, a little reverse operation will be used to offset the forward inertia and make the boat stop in place. The humanoid rudder strategy learns this behavior. If the unmanned boat reaches the positioning point by moving forward and backward, it will operate in the opposite direction for a period of time T. h , to offset the inertia of entering the positioning point and achieve the effect of stopping the ship. The pseudo code of this strategy is shown in Table 2. The forward operation value of the tipping bucket is defined as FORWARD, the backward operation value is BACK, and the stopping operation value is STOP. The two tipping buckets are in a coordinated operation state.

[0077] Table 2 Humanoid steering strategy EaseWheel

[0078]

[0079]

[0080] When in FORWARD mode, the unmanned boat moves forward and the left and right dump buckets are raised; when in BACK mode, the unmanned boat moves backward and the left and right dump buckets are lowered; when in STOP mode, the left and right water jet thrusters do not spray water.

[0081] (3) Position-based unmanned boat dynamic positioning drive method

[0082] The coordinate system of the unmanned boat is converted, the longitude and latitude coordinates are converted to Mercator coordinates, and the coordinate units are converted to meters. Then, through coordinate rotation and translation, the coordinate system is converted to a coordinate system with the expected position as the origin and the expected heading as the positive direction of the Y axis, which is convenient for calculating and judging the relative position of the boat relative to the expected point. Figure 3 As shown in the figure, the position of the unmanned boat is divided according to the heading angle α and the arrival distance D.

[0083] The arrival distance D defines the arrival area of ​​the UAV. When the UAV's position satisfies -D ≤ x ≤ D and - ≤ y ≤ D, the UAV is considered within the positioning area and no further adjustments are required. Within a certain range, a smaller D results in higher positioning accuracy, but this also increases the amount of maneuvering required and the frequency of the UAV's forward and backward position oscillations. Within a certain range, a larger D results in less maneuvering required and a lower frequency of forward and backward position oscillations, but this also reduces positioning accuracy.

[0084] The heading angle α defines lines l and r, where r:y = x / tan() and l:y = -x / tan(α). Line r and l are symmetric about the Y axis. Lines l' and r' are the line segments formed by the intersection of lines l and r with y = D and y = -D. Lines l and r determine the operational direction of the UAV and the threshold for determining when the UAV moves laterally back into the positioning area.

[0085] The dynamic positioning method of the unmanned boat based on position has two states as a whole. One is the state of moving forward and backward or reaching the state, and the other is the state of lateral movement. The specific process is as follows:

[0086] 1) Coordinate transformation. Convert the boat's position and desired location in latitude and longitude coordinates to Mercator coordinates. Then, with the desired location as the origin and the desired heading as the Y-axis, translate and rotate the Mercator coordinates to obtain the boat's current position, speed, heading, and heading.

[0087] x0=P C (x)-P E (x), (9)

[0088] y0=P C (y)-P E (y), (10)

[0089] x=x0cos(H E )-y0sin(H E ), (11)

[0090] y=x0sin(H E )+y0cos(H E ), (12)

[0091] H=H0-H E . (13)

[0092] Where, P C is the current position, P E is the desired position, P C () and P C() is the Mercator coordinate of the current position of the unmanned boat, x0 and y0 are the intermediate variables in the conversion process, and x and y are the position coordinates of the unmanned boat after the coordinate conversion.

[0093] 2) If it is within the positioning area, that is, -≤x≤D and -D≤y≤D, there is no need to adjust the position of the unmanned boat, the bucket is set to STOP gear, and only the heading and rudder angle need to be paid attention to. If the heading is greater than the heading error threshold E HM , the rudder angle is controlled by proportional control.

[0094] 3) If the unmanned boat is not within the positioning area:

[0095] a) When the UAV is on the left side of l and on the right side of r, the UAV is in forward motion, moving from its own position to the origin until it reaches the positioning area;

[0096] b) When the UAV is on the right side of l and on the left side of r, the UAV is in the backward movement state, from its own position to the origin, until it reaches the positioning area;

[0097] c) When the UAV is on the left side of the lines l and r, the UAV is in the state of moving rightward until it reaches the area between l, l', r and r, r', l;

[0098] d) When the UAV is on the right side of the straight lines l and r, the UAV's operating state is to move to the left until it reaches the area between l, l', r and r, r', l.

[0099] 4) Call the humanoid steering strategy to offset the influence of its own inertia.

[0100] The pseudo code of the position-based unmanned boat dynamic positioning method is shown in Table 3.

[0101] Table 3. Position-based dynamic positioning method of unmanned boats

[0102]

[0103]

[0104] like Figure 4 As shown, the implementation method of the present invention is as follows:

[0105] 1. Parameter settings

[0106] The parameters required by the present invention are set according to the motion model of the unmanned boat used. One parameter implementation method is as follows: T =0.2kn,T=1s,ΔB=1%,T h =2s,α=15°,D=5m.

[0107] 2. Dynamic positioning mission issuance and vessel information collection

[0108] The dynamic positioning task information and the navigation information of the boat are sent to the method of the present invention. The dynamic positioning task information includes the expected positioning position and the expected heading direction. The navigation information includes the current position, speed, heading and heading information of the boat.

[0109] 3. Movement strategy selection

[0110] The position-based unmanned boat dynamic positioning driving method will calculate the current strategy to be executed based on the expected positioning position and the position of the boat.

[0111] 4. Motion Control Computing

[0112] The control state of the jet pump is calculated based on the current strategy to be executed. If the vehicle is moving forward or backward, the bucket is raised or lowered, and a humanoid rudder strategy is determined to offset the inertia of the UAV. If the vehicle is moving left or right, the jet pump-powered lateral translation method is invoked. This method generates translation control instructions based on the vehicle's current speed, heading, and heading.

[0113] 5. Instructions issued

[0114] The left and right dump bucket control quantities and nozzle steering sizes calculated by the present invention are sent to the jet pump control actuator to drive the unmanned boat to complete the corresponding forward and backward movement or left and right translation motion control, thereby achieving the effect of dynamic positioning of the unmanned boat.

[0115] The present invention was applied to a certain type of unmanned boat and debugged and tested in a certain reservoir. The test environment on that day had a wave height of 0.6 meters and a water flow velocity of 1.0 knot. The test results are shown in Table 4.

[0116] Table 4 Dynamic positioning test record

[0117]

[0118] As shown in Table 4, the unmanned boat of the present invention can achieve an average position error of 2.47 meters and an average heading error of 5.82 degrees in the dynamic positioning test under the interference of external environment such as wind, waves and currents. Figure 5 It can also be seen that the trajectory of the unmanned boat is mostly located near the positioning point, where the origin is the positioning point. This actual boat test verifies the practicality and effectiveness of the present invention and also illustrates the control accuracy of the present invention to a certain extent.

[0119] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, or two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0120] It will be easily understood by those skilled in the art that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for positioning an unmanned boat powered by a jet pump, wherein the unmanned boat is provided with left and right jet pumps and left and right dump buckets, characterized in that: The method comprises the following steps: (1) Sideways translation method of unmanned boat Make the left and right rudder angles of the unmanned boat consistent; the rudder angle of the unmanned boat is the nozzle direction of the unmanned boat's jet pump, and the nozzle directions of the two jet pumps are one left and one right; Get the current speed v, heading C0, and heading H0 of the unmanned boat; decompose the current speed v of the unmanned boat into a coordinate system with the heading direction as the Y axis: in y =v*cos(C0-H0) Set the threshold v T >0, if -v T ≤v y ≤v T , then the unmanned boat is considered to have no speed in the bow direction; if v y Greater than the threshold v T , then set the dump bucket control amount to ΔB; if v y Less than threshold -v T , then set the dump bucket control amount to -ΔB; Get the lateral translation direction of the unmanned boat; if it translates to the left, the left dump bucket is lowered to the reverse position, and the dump bucket control amount is added to the right dump bucket every time T until -v T ≤v y ≤v T If it moves to the right, the right dump bucket is lowered to the reverse position, and the dump bucket control amount is added to the left dump bucket every time T until -v T ≤v y ≤v T ; Get the desired heading H of the unmanned boat E , calculate and obtain the superimposed rudder angle ΔR; superimpose the first rudder angle ΔR on the left and right rudder angles of the unmanned boat at the same time; (2) Unmanned Boat Humanoid Steering Strategy If the last bucket control value is FORWARD and the current bucket control value is STOP, the unmanned boat will retreat for a set time T h ; If the last bucket control value is BACK and the current bucket control value is STOP, the unmanned boat will move forward for a set time T h ; Otherwise, the unmanned boat executes the current dump bucket control value; (3) Position-based unmanned boat dynamic positioning drive method Establish a coordinate system with the desired positioning point as the origin and the desired heading as the positive direction of the Y axis; obtain the current position (x, y) and heading H of the unmanned boat; ① If the UAV is within the positioning area, that is, -D≤x≤D and -D≤y≤D, there is no need to adjust the UAV position. The current dump control value is set to STOP, where D is the arrival distance. Set the heading error threshold E HM , if H>E HM or H<-E HM , then the second rudder angle is added to the left and right rudder angles of the unmanned boat at the same time; ② If the current position of the unmanned boat satisfies y>D and -y×tan(E HM ) <x<y×tan(E HM ), the current dump bucket control value is set to BACK, that is, back, and the unmanned boat humanoid rudder strategy is called, and the left and right rudder angles are the angles from the current position of the unmanned boat to the origin; ③ If the current position of the unmanned boat satisfies y<-D and -y×tan(E HM ) <x<y×tan(E HM ), the current dump bucket control value is set to FORWARD, that is, forward, the unmanned boat humanoid rudder strategy is called, and the left and right rudder angles are the angles from the origin to the current position of the unmanned boat; ④ If the current position of the unmanned boat satisfies x>D, the lateral translation direction of the unmanned boat is set to the left, and the lateral translation method of the unmanned boat is called; ⑤ If the current position of the unmanned boat satisfies x<-D, the lateral translation direction of the unmanned boat is set to right translation, and the lateral translation method of the unmanned boat is called.

2. The method for dynamic positioning of an unmanned boat based on jet pump power according to claim 1, characterized in that: When the unmanned boat moves horizontally to the left, the left dump bucket is lowered to the reverse position and the right dump bucket is raised; when the unmanned boat moves horizontally to the right, the left dump bucket is raised and the right dump bucket is lowered to the reverse position; when the unmanned boat moves forward, the left and right dump buckets are raised; when the unmanned boat moves backward, the left and right dump buckets are lowered to the reverse position; when the unmanned boat stops, the left and right spray pumps are turned off.

3. The method for dynamic positioning of an unmanned boat based on jet pump power according to claim 2, characterized in that: The left bucket B1, right bucket B2, left rudder angle R1, and right rudder angle R2 of the unmanned boat when the unmanned boat moves left and right in still water are obtained as the initial values ​​of the lateral translation of the unmanned boat.

4. The method for dynamic positioning of an unmanned boat based on jet pump power according to claim 1, characterized in that: The superimposed first rudder angle ΔR is calculated by PD control, and the calculation formula is as follows: <h2 style=";text-align:left;direction:ltr">E<h2 style=";text-align:left;direction:ltr"> H <h2 style=";text-align:left;direction:ltr"> =H<h2 style=";text-align:left;direction:ltr"> E <h2 style=";text-align:left;direction:ltr"> -H0 Where P is the proportional coefficient, K D is the differential coefficient.

5. The method for dynamic positioning of an unmanned boat based on jet pump power according to claim 4, characterized in that: In step (3), the latitude and longitude coordinates of the UAV are converted into Mercator coordinates. Then, with the desired positioning point as the origin and the desired heading as the positive direction of the Y axis, the Mercator coordinates are translated and rotated to obtain the current position (x, y) and heading H of the UAV: x0=P C (x)-P E (x) y0=P C (y)-P E (y) x=x0cos(H E )-y0sin(H E ) y=x0sin(H E )+y0cos(H E ) H=H0-H E Where, P C is the current position, P E is the desired position, P C (x) and P C (y) is the Mercator coordinate of the current position of the unmanned boat, P E (x) and P E (y) is the Mercator coordinate of the expected position of the unmanned boat, and x0 and y0 are intermediate quantities.

6. The method for dynamic positioning of an unmanned boat based on jet pump power according to claim 1, characterized in that: The second rudder angle is -P×H, where P is the proportional coefficient.

7. An unmanned boat, characterized in that: The unmanned boat adopts the unmanned boat dynamic positioning method based on jet pump power as described in any one of claims 1 to 6.

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