An unmanned sailboat regional position keeping method and system

Abstract

The application discloses an unmanned sailboat regional position keeping method and system, and determines whether the unmanned sailboat is in a regional position keeping range according to real-time position and regional position keeping information of the unmanned sailboat. Whether the regional position keeping range is in a forbidden area of the unmanned sailboat is determined according to the real-time position, the regional position keeping information and an environmental wind direction. If the regional position keeping range is in the forbidden area of the unmanned sailboat, the unmanned sailboat sails into the regional position keeping range in a zigzag mode. If the regional position keeping range is not in the forbidden area of the unmanned sailboat, the unmanned sailboat calculates an expected heading angle by using an integral LOS algorithm, and adjusts a posture of a sail according to a difference between the expected heading angle and a heading angle, so that the unmanned sailboat is always in the regional position keeping range. The application effectively solves a position error of the unmanned sailboat caused by factors such as ocean current when the unmanned sailboat performs a specific regional task, and ensures stable sailing and reliability of the unmanned sailboat when performing the specific regional task at sea.

Description

Technical Field

[0001] This invention belongs to the field of unmanned sailboat technology, specifically relating to a method and system for maintaining the location of an unmanned sailboat in a specific area. Background Technology

[0002] Unmanned sailboats, as a new type of intelligent unmanned maritime vehicle, are characterized by long range, low energy consumption, and long operating time. Therefore, they can complete long-range detection and reconnaissance missions in complex marine environments. The most significant feature of unmanned sailboats is that they require only a small amount of electricity to power their hardware and can operate for several months without carrying additional fuel or batteries. This gives them a significant advantage in terms of payload and space utilization during long-distance voyages. The unmanned sailboat's propulsion is primarily wind-driven, and its speed depends on wind speed and direction. When sailing against the wind in the range of -45° to 45°, the sailboat's forward speed is very low or close to zero, hence this is called a no-go zone. When the unmanned sailboat needs to move towards a no-go zone for mission purposes, it must proceed in a zigzag pattern with a slightly larger no-go zone threshold angle, resulting in a broken trajectory. When sailing with the wind in the range of 45° to 315°, an integral LOS (Lowest-Order) algorithm can be used for guidance.

[0003] Unmanned sailboat area position maintenance refers to controlling the position of an unmanned sailboat within a certain area to maintain a stable position during marine monitoring activities in a specific location. Due to the complex and variable marine environment and interference from ocean currents, the position of an unmanned sailboat may change within its designated area. Therefore, this invention proposes a method and system for unmanned sailboat area position maintenance to solve the problem of position control for unmanned sailboats in a specific area. Summary of the Invention

[0004] In view of the problems and shortcomings of the existing technology, the purpose of this invention is to provide a method and system for maintaining the location of an unmanned sailboat in a specific area.

[0005] To achieve the objectives of this invention, the technical solution adopted is as follows:

[0006] The first aspect of this invention provides a method for maintaining the location of an unmanned sailboat in a given area, comprising the following steps:

[0007] S101, real-time acquisition of the unmanned sailboat's current location, area location-keeping information, and current wind direction in the marine environment;

[0008] The area position keeping information includes the center point of the unmanned sailboat's area position keeping range, the lateral keeping distance L, and the longitudinal keeping distance W;

[0009] S102. Determine the lateral distance Δx and the longitudinal distance Δy between the unmanned sailboat and the center point of the area position holding range according to the current position and the center point of the area position holding range;

[0010] S103. Judge whether the lateral distance Δx or the longitudinal distance Δy is greater than the lateral holding distance L or the longitudinal holding distance W; if Δx > L or Δy > W, then execute S104; if Δx < L and Δy < W, then execute S105;

[0011] S104. Judge whether the area position holding range is located in the no-go area of the unmanned sailboat according to the current position, the center point of the area position holding range and the current wind direction, and obtain the judgment result;

[0012] If the judgment result is yes, then execute S106; if the judgment result is no, then execute S107;

[0013] S105. Continue to monitor the position information of the unmanned sailboat;

[0014] S106. The unmanned sailboat sails towards the center point of the area position holding range in a zigzag shape until it enters the area position holding range;

[0015] S107. Use the integral LOS algorithm to determine the desired heading angle of the unmanned sailboat, and adjust the attitude of the sail according to the deviation between the desired heading angle and the current heading angle of the unmanned sailboat until the unmanned sailboat enters the area position holding range.

[0016] According to the above method for maintaining the area position of the unmanned sailboat, preferably, the calculation methods of the lateral distance Δx and the longitudinal distance Δy in step S102 are as follows:

[0017] Δx = |x t - x O |

[0018] Δy = |y t - y O |

[0019] Where x t , y t represent the abscissa and ordinate of the current unmanned sailboat, and x0, y0 are the coordinates of the center point of the area position holding range.

[0020] According to the above method for maintaining the area position of the unmanned sailboat, preferably, the specific method for judging whether the area position holding range is located in the no-go area of the unmanned sailboat in step S104 is: if the entire area position holding range is within the sailing range of the unmanned sailboat against the wind from -45° to 45°, then the area position holding range is located in the no-go area of the unmanned sailboat.

[0021] According to the above-described method for maintaining the position of an unmanned sailboat in a specific area, preferably, the integral LOS algorithm used in step S106 is used to determine the desired heading angle of the unmanned sailboat. The specific calculation method is as follows:

[0022]

[0023] Where θ los The expected heading angle θ of the unmanned sailboat is obtained using the integral LOS algorithm. p To establish a coordinate system with the current position of the unmanned sailboat, the previous position of the unmanned sailboat (x k ,y k ) and current tracking position (x) k+1 ,y k+1 The angle between the line connecting the two axes and the vertical axis; Δ is the line length, and d is the deviation between the hull and the desired path. int This is the integral term of the deviation.

[0024] According to the above-described method for maintaining the location of unmanned sailboats in a specific area, preferably, the d int The calculation method is as follows:

[0025]

[0026] Where d is the current position of the unmanned sailboat (x t ,y t ) to the previous position (x k ,y k ) and current tracking position (x) k+1 ,y k+1 The vertical distance between the lines; Δ is the line-of-sight length, σ is a control input, calculated by integration; the line-of-sight length Δ=C is a constant, which can be manually selected according to mission requirements and the specific characteristics of the aircraft.

[0027] A second aspect of the present invention provides an area positioning system for unmanned sailboats, comprising:

[0028] The real-time acquisition module is used to acquire the current position of the unmanned sailboat, its regional position-keeping information, and the current wind direction of the marine environment in real time. The regional position-keeping information includes the center point of the regional position-keeping range, the lateral position-keeping distance, and the longitudinal distance.

[0029] The distance determination module is used to calculate the lateral and longitudinal distances between the unmanned sailboat and the center point of the area position-keeping range using information acquired by the real-time acquisition module.

[0030] The compass module is used to output the current heading angle of the unmanned sailboat;

[0031] The distance judgment module is used to determine whether the horizontal distance or vertical distance obtained by the distance determination module is greater than the horizontal holding distance or vertical holding distance obtained by the real-time acquisition module, and obtain the judgment result.

[0032] The restricted area judgment module is used to determine whether the area's location is within the restricted area of ​​the unmanned sailboat based on the judgment result of the distance judgment module, and obtain the judgment result;

[0033] The integral LOS algorithm guidance module is used to determine the desired heading angle based on the current position and the center point of the area position of the unmanned sailboat using the integral LOS algorithm. The desired heading angle is used to control the attitude of the sail.

[0034] The processing module is used to perform calculations on the information obtained by the above modules.

[0035] According to the above-mentioned unmanned sailboat area positioning system, preferably, the calculation methods for the lateral and longitudinal distances are as follows:

[0036] Δx=|x t -x O |

[0037] Δy=|y t -y O |

[0038] Where x t y t The x and y coordinates represent the current horizontal and vertical coordinates of the unmanned sailboat, while x0 and y0 are the coordinates of the center point of the area where the location is maintained.

[0039] Based on the aforementioned unmanned sailboat area position-keeping system, preferably, the desired heading angle is determined using the integral LOS algorithm based on the current position of the unmanned sailboat and the center point of the area position-keeping range. The specific calculation method is as follows:

[0040]

[0041] Where θ los The expected heading angle θ of the unmanned sailboat is obtained using the integral LOS algorithm. p To establish a coordinate system with the current position of the unmanned sailboat, the previous position of the unmanned sailboat (x k ,y k ) and current tracking position (x) k+1 ,y k+1 The angle between the line connecting the two axes and the vertical axis; Δ is the line length, and d is the deviation between the hull and the desired path. int This is the integral term of the deviation.

[0042] A third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any step of the area positioning method for unmanned sailboats as described in the first aspect.

[0043] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a computer processor, implements any step in the area location maintenance method for unmanned sailboats as described in the first aspect.

[0044] This invention determines whether an unmanned sailboat (USA) is within a designated area of ​​position (DAP) based on its real-time location and regional position-keeping information. It further determines whether the DAP is within a restricted area based on the USA's real-time location, DAP information, and the surrounding wind direction. When the DAP is within a restricted area, the USA navigates in a zigzag pattern against the wind to enter the DAP. When the DAP is outside a restricted area, the USA calculates its desired heading angle using an integral LOS algorithm, and then adjusts its sail attitude based on the difference between the desired heading angle and the USA's heading angle to ensure it remains within the DAP. This invention effectively solves the positional errors caused by ocean currents and other factors when USAs are performing missions in specific areas, ensuring the stability and reliability of USAs performing missions in specific maritime regions. Attached Figure Description

[0045] Figure 1 A flowchart of a method for maintaining the regional position of an unmanned sailboat provided by the present invention;

[0046] Figure 2 A schematic diagram of a restricted area for an unmanned sailboat provided by the present invention;

[0047] Figure 3 A coordinate diagram for calculating the desired heading angle of an unmanned sailboat. Detailed Implementation

[0048] To enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below with reference to specific embodiments.

[0049] like Figure 1 The diagram illustrates a method for maintaining the location of an unmanned sailboat according to the present invention, comprising the following steps:

[0050] S101, real-time acquisition of the unmanned sailboat's current position, regional position-keeping information, and current wind direction of the marine environment; the regional position-keeping information includes the center point of the unmanned sailboat's regional position-keeping range, the lateral position-keeping distance, and the longitudinal position-keeping distance.

[0051] Among them, the target point of the unmanned sailboat detection and reconnaissance mission is used as the center point T of the unmanned sailboat area position keeping range. O (x O , y O ), set the horizontal keeping distance L and the vertical keeping distance W of the area position keeping range. L and W are set according to the size and working accuracy requirements of the unmanned sailboat. Generally, L = 25 meters and W = 25 meters are set.

[0052] S102. According to the current position T of the above unmanned sailboat t (x t , y t ) and the center point T of the above area position keeping range O (x O , y O ), determine the horizontal distance and the vertical distance between the unmanned sailboat and the center point of the area position keeping range. The formulas for the horizontal distance and the vertical distance are:

[0053] Δx = |x t - x O |

[0054] Δy = |y t - y O |

[0055] Among them, Δx represents the horizontal distance between the unmanned sailboat and the center point of the area position keeping range, Δy represents the vertical distance between the unmanned sailboat and the center point of the area position keeping range, (x t , y t ) represents the abscissa and ordinate of the current unmanned sailboat, and (x O , y O ) is the coordinate of the center point of the area position keeping range.

[0056] S103. Judge whether the horizontal distance Δx or the vertical distance Δy is greater than the horizontal keeping distance L or the vertical keeping distance W. If Δx > L or Δy > W, then execute step S104; if Δx < L and Δy < W, then execute step S105.

[0057] S104. As Figure 2 shown is the schematic diagram of the no-go area of the unmanned sailboat. According to the current position of the unmanned sailboat, the center point of the area position keeping range, and the current wind direction, judge whether the area position keeping range is located in the no-go area of the unmanned sailboat, and obtain the judgment result. If the area position keeping range is entirely within the range of the unmanned sailboat sailing against the wind at -45° to 45°, then the judgment result is yes, and then execute step S106; if the area position keeping range is not within the range of the unmanned sailboat sailing against the wind at -45° to 45°, then the judgment result is no, and then execute step S107.

[0058] S105, the unmanned sailboat is currently within the area where it is located and can carry out normal detection and reconnaissance missions. Continue to monitor the location information of the unmanned sailboat.

[0059] S106, the unmanned sailboat sails in a zigzag pattern toward the center point of the area position-keeping range until it enters the area position-keeping range.

[0060] S107. Based on the current position of the unmanned sailboat and the area maintenance center point, the integral LOS algorithm is used to determine the expected heading angle of the unmanned sailboat. The sail attitude is adjusted according to the deviation between the expected heading angle and the current heading angle of the unmanned sailboat until the unmanned sailboat enters the area maintenance range.

[0061] The specific calculation method for the desired heading angle of the unmanned sailboat is as follows:

[0062] like Figure 3 As shown, a coordinate system is established with the current position of the unmanned sailboat, the line-of-sight length Δ = C is defined, and the integral term d is calculated based on the deviation d between the hull and the desired path. int The derivative:

[0063]

[0064] In equation (1), d is the current position of the unmanned sailboat (x t ,y t ) to the previous position (x k ,y k ) and current tracking position (x) k+1 ,y k+1 The vertical distance between the lines is Δ, where Δ is the line-of-sight length, and σ is a control input that can be calculated by integration. The line-of-sight length Δ = C is a constant that can be manually selected according to mission requirements and the specific characteristics of the aircraft.

[0065] The integral term d int Combining this with the deviation d forms a new method for calculating LOS:

[0066]

[0067] In equation (2) θ los The expected heading angle θ of the unmanned sailboat is obtained using the integral LOS algorithm. p The previous position (x) k ,y k ) to the current tracking position (x k+1 ,y k+1 The angle between the line connecting the two axes and the vertical axis.

[0068] This invention designs a method for maintaining the location of unmanned sailboats in a specific area, which effectively solves the problem of maintaining the location of unmanned sailboats in complex marine environments and ensures the stability and reliability of unmanned sailboats operating at sea.

[0069] Example 2

[0070] like Figure 2 As shown, the present invention also provides a specific process for the application of the unmanned sailboat area positioning method:

[0071] Step 1: Obtain the location information of the unmanned sailboat and the wind direction of its surroundings to determine the navigation algorithm;

[0072] The unmanned sailboat navigates the sea, relying on its onboard GPS for real-time positioning to obtain its current location (T). t (x t ,y t The unmanned sailboat obtains wind direction information using its own onboard wind sensors and uses communication equipment to provide a regional position-maintaining center point T. O (x O ,y O The unmanned sailboat's distance determination module calculates the lateral distance Δx and longitudinal distance Δy between the current position and the area position holding range, and determines the unmanned sailboat's control algorithm by comparing whether Δx is greater than L or whether Δy is greater than W.

[0073] Step 2: When not within the designated area...

[0074] When Δx > L or Δy > W, the unmanned sailboat has not yet entered the area position-keeping range. At this time, the area position-keeping algorithm is executed: based on the current position T of the unmanned sailboat... t (x t ,y t ) and maintain the center point T of the area location range O (x O ,y O Determine whether the area of ​​position keeping is within the restricted area of ​​the unmanned sailboat. If the area of ​​position keeping is not within the restricted area, the unmanned sailboat obtains its current heading angle θ through the compass module and uses the integral LOS algorithm to calculate the desired heading angle θ. los This allows the unmanned sailboat to adjust the angle and height of its sails to enter the area of ​​control. When the area of ​​control is within the no-entry zone for unmanned sailboats, the unmanned sailboat navigates in a zigzag pattern to enter the area of ​​control.

[0075] Example 3

[0076] This invention provides an unmanned sailboat area positioning system, comprising:

[0077] Real-time acquisition module: Includes a GPS locator and a wind direction sensor, used to acquire the current position of the unmanned sailboat, regional position-keeping information, and the current wind direction of the marine environment in real time. The regional position-keeping information includes the center point of the regional position-keeping range, the lateral position-keeping distance, and the longitudinal distance.

[0078] Distance determination module: Used to calculate the lateral and longitudinal distances between the unmanned sailboat and the center point of the area position-keeping range using information acquired by the real-time acquisition module.

[0079] Compass module: Used to output the current heading angle of the unmanned sailboat.

[0080] Distance judgment module: used to determine whether the horizontal or vertical distance obtained by the distance determination module is greater than the horizontal or vertical holding distance obtained by the real-time acquisition module, and obtain the judgment result.

[0081] Restricted Zone Judgment Result: Based on the judgment result of the distance judgment module, this is used to determine whether the area's location is within the restricted zone of the unmanned sailboat, and to obtain the judgment result.

[0082] Integral LOS algorithm guidance module: If the no-entry zone judgment result is negative, this module uses the integral LOS algorithm to determine the desired heading angle based on the current position of the unmanned sailboat and the center point of the area position maintenance range. The obtained desired heading angle is used to control the attitude of the sail.

[0083] Processing module: Used to calculate the information obtained by the above modules, that is, to execute the area position keeping algorithm of the unmanned sailboat.

[0084] This invention provides a method and system for maintaining the position of an unmanned sailboat in a specific area, which effectively solves the position error caused by ocean currents and other factors when the unmanned sailboat is carrying out a specific area mission on the sea surface, and ensures the stability and reliability of the unmanned sailboat in carrying out a specific area mission.

[0085] Example 4

[0086] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any step of an unmanned sailboat area positioning method as described in Embodiment 1 or 2.

[0087] Furthermore, the method for maintaining the location of an unmanned sailboat area described in Embodiment 1 or 2 can be implemented as a computer software program. For example, this embodiment includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method. In such an embodiment, the computer program can be downloaded and installed from a network, and / or installed from a removable medium. When the computer program is executed by a processor, it performs the functions defined in the method of this application.

[0088] Example 5

[0089] A computer-readable storage medium storing a computer program that, when executed by a processor, implements any step of a method for maintaining the location of an unmanned sailboat area as described in Embodiment 1 or 2.

[0090] The computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0091] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0092] The above embodiments are specific implementations of the present invention, but the implementation of the present invention is not limited to the above embodiments. Any other combination, change, modification, substitution, or simplification that does not exceed the design concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for maintaining the regional position of an unmanned sailboat, characterized by, The method comprises the following steps: S101, acquiring the current position of the unmanned sailboat, the regional position keeping information and the current wind direction of the marine environment in real time; The regional position keeping information comprises a center point of a regional position keeping range, a lateral keeping distance L and a longitudinal keeping distance W; S102, determining the lateral distance Δx and the longitudinal distance Δy between the unmanned sailboat and the center point of the regional position keeping range according to the current position and the center point of the regional position keeping range; S103, judging whether the lateral distance Δx or the longitudinal distance Δy is greater than the lateral keeping distance L or the longitudinal keeping distance W; if Δx>L or Δy>W, executing step S104; if Δx<L and Δy<W, executing step S105; S104, judging whether the regional position keeping range is located in the forbidden area of the unmanned sailboat according to the current position, the center point of the regional position keeping range and the current wind direction, and obtaining a judgment result; If the judgment result is yes, executing step S106; if the judgment result is no, executing step S107; S105, continuously monitoring the position information of the unmanned sailboat; S106, the unmanned sailboat sails toward the center point of the regional position keeping range in a zigzag manner until entering the regional position keeping range; S107, determining the expected heading angle of the unmanned sailboat by using the integral LOS algorithm according to the current position of the unmanned sailboat and the center point of the regional keeping range, and adjusting the posture of the sail according to the deviation between the expected heading angle and the current heading angle of the unmanned sailboat until the unmanned sailboat enters the regional position keeping range.

2. The regional position keeping method of the unmanned sailboat according to claim 1, wherein, The calculation method of the lateral distance Δx and the longitudinal distance Δy in step S102 is as follows: Δx = |x t - x O | Δy = |y t - y O | where x t , y t represent the current unmanned sailboat's horizontal and vertical coordinates, and x0, y0 are the horizontal and vertical coordinates of the center point of the area position holding range.

3. The regional position keeping method of the unmanned sailboat according to claim 2, wherein, The specific method for judging whether the regional position keeping range is located in the forbidden area of the unmanned sailboat in step S104 is as follows: if the whole regional position keeping range is in the sailing range of the unmanned sailboat at -45° to 45° against the wind, the regional position keeping range is located in the forbidden area of the unmanned sailboat.

4. The method of claim 1, wherein The specific calculation method for determining the expected heading angle of the unmanned sailboat by using the integral LOS algorithm in step S106 is as follows: where θ los is the expected heading angle of the unmanned sailboat obtained by using the integral LOS algorithm, θ p is the angle between the line connecting the position (x k , y k ) on the unmanned sailboat and the current tracking position (x k+1 , y k+1 ) and the longitudinal coordinate axis when the coordinate system is established at the current position of the unmanned sailboat; Δ is the line of sight length, d is the deviation between the hull and the expected path, and d int is the integral term of the deviation.

5. The method of claim 4, wherein The d int The calculation method is: where d is the perpendicular distance from the current position (x t ,y t ) of the unmanned sailboat to the line connecting the last position (x k ,y k ) and the current tracking position (x k+1 ,y k+1 ); σ is a control input obtained by integral calculation; the line-of-sight length Δ = C is constant and can be artificially selected according to the task requirements and the specific characteristics of the vehicle.

6. An unmanned sailboat regional position keeping system characterized by, The method comprises the following steps: A real-time acquisition module is configured to acquire the current position of the unmanned sailboat, the regional position keeping information and the current wind direction of the marine environment in real time; the regional position keeping information comprises a center point of a regional position keeping range, a lateral keeping distance and a longitudinal distance; A distance determination module is configured to calculate the lateral distance and the longitudinal distance between the unmanned sailboat and the center point of the regional position keeping range by using the information acquired by the real-time acquisition module; A compass module is configured to output the heading angle of the current unmanned sailboat; A distance judgment module is configured to judge whether the lateral distance or the longitudinal distance obtained by the distance determination module is greater than the lateral keeping distance or the longitudinal keeping distance acquired by the real-time acquisition module, and obtain a judgment result; A forbidden area judgment module is configured to judge whether the regional position keeping range is in the forbidden area of the unmanned sailboat according to the judgment result of the distance judgment module, and obtain a judgment result. An integral LOS algorithm guidance module is configured to determine a desired heading angle according to the current position of the unmanned sailboat and the position keeping range center point of the region, the desired heading angle being used to control the posture of the sail. A processing module is configured to calculate information obtained by the above modules.

7. The unmanned sailboat regional position keeping system of claim 6, wherein, The calculation method of the transverse distance and the longitudinal distance is as follows: Δx = |x t - x O | Δy = |y t - y O | where (x t ,y t ) represents the current unmanned sailboat's horizontal coordinate and vertical coordinate, and (x O ,y O ) is the coordinate of the center point of the area position holding range.

8. The unmanned sailboat regional position keeping system of claim 6, wherein, The integral LOS algorithm is used to determine the desired heading angle according to the current position of the unmanned sailboat and the position keeping range center point of the region, and the specific calculation method is as follows: where θ los is the expected heading angle of the unmanned sailboat obtained by the integral LOS algorithm, θ p is the angle between the line connecting the current tracking position (x k+1 , y k+1 ) of the unmanned sailboat and the position (x k , y k ) on the unmanned sailboat and the longitudinal coordinate axis, Δ is the line of sight length, d is the deviation between the hull and the expected path, and d int is the integral term of the deviation.

9. An electronic device comprising a memory and a processor, said memory having stored thereon a computer program, characterized in that, The processor executes the computer program to implement any one of the steps in the region position keeping method of the unmanned sailboat according to any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores the computer program, and the computer program is executed by the computer processor to implement any one of the steps in the region position keeping method of the unmanned sailboat according to any one of claims 1-5.

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