Method and device for autonomous formation navigation of multiple unmanned ships

Abstract

The invention discloses a method and a device for autonomous formation navigation of multiple unmanned ships. The method comprises the following steps: acquiring navigation and positioning data of the unmanned ships by utilizing navigation and positioning equipment configured by the unmanned ships; data interaction among a plurality of unmanned ships is realized based on a wireless ad hoc network; a formation instruction is generated according to the navigation plan, based on the formation instruction, the central boat in the multiple unmanned boats sends navigation information of the central boat to each non-central boat, and each non-central boat carries out course control and speed control according to a formation navigation controller configured by the non-central boat; and the center boat executes the navigation plan according to a formation navigation controller configured by the center boat, and track tracking control is carried out. The method is combined with a moving average filtering algorithm, sea condition random disturbance is reduced, and the overall formation navigation stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-unmanned boat cluster formation navigation operation control, and particularly relates to a method and device for autonomous formation navigation of multi-unmanned boats. Background Art

[0002] Unmanned boats can operate independently in complex marine environments, and have advantages such as a wide range of activities, low costs, and strong autonomous capabilities. Currently, they are playing an increasingly important role in the military field and scientific research, etc. However, in the face of certain complex task scenarios, a single unmanned boat has poor robustness, and once a failure occurs, the task will fail. At the same time, the information perception ability of a single unmanned boat is limited, and it is not suitable for activities in large-scale areas. Multi-unmanned boat formation for task execution has better robustness, fault tolerance, and system survival capabilities. Even if a single one fails, it will not affect the overall task. The perception range of a single unmanned boat is limited, and multi-boat collaborative operation can expand the group perception area and complete specific search tasks quickly and efficiently. Through the interaction of local information among multiple boats, it is more effective and more powerful than a single hull, greatly expanding the scope of use of autonomous unmanned boats and realizing tasks that a single hull cannot complete.

[0003] Navigation and positioning devices can obtain the positioning data of unmanned boats and key information such as heading and attitude in real time; wireless ad hoc network communication devices can synchronize data of multiple communication nodes, and installing them on each unmanned boat can realize real-time communication data transmission and sharing among members of the unmanned boat group; based on the navigation and positioning data of the boat itself and the navigation and positioning information of other members of the formation, multi-unmanned boat autonomous formation navigation can be realized through formation navigation control algorithms. Summary of the Invention

[0004] In view of this, the present invention provides a method and device for autonomous formation navigation of multi-unmanned boats, which can solve the technical problems of unmanned boat formation.

[0005] In order to solve the above technical problems, the present invention is implemented as follows.

[0006] A method for autonomous formation navigation of multi-unmanned boats, the method comprising:

[0007] Step S1: Obtain the navigation and positioning data of the unmanned boat by using the navigation and positioning device configured on the unmanned boat;

[0008] Step S2: Realize data interaction among multiple unmanned boats based on wireless ad hoc network;

[0009] Step S3: Generate formation instructions according to the navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends its navigation information to each non - central boat. Each non - central boat performs heading control and speed control according to its configured formation navigation controller; the central boat executes the navigation plan according to its configured formation navigation controller and performs track - following control.

[0010] Preferably, in step S2: Implement data interaction between multiple unmanned boats based on a wireless ad - hoc network, including:

[0011] Step S21: Each unmanned boat is equipped with a wireless ad - hoc network communication device. The wireless ad - hoc network communication device is a set of wireless communication devices containing multiple communication nodes, which is used for data interaction between multiple unmanned boats; any two of the communication nodes can communicate with each other in the network, and all nodes can form a dynamic network, so as to ensure the dynamic adjustment of the number of formation members, and all nodes in the ad - hoc network achieve data synchronization and sharing.

[0012] Step S22: Based on the wireless ad - hoc network communication device, the central unmanned boat of the formation, that is, the central boat, synchronizes and shares its real - time navigation information in the entire ad - hoc network group; other unmanned boats in the formation group obtain the latest navigation information of the central boat in real - time based on their own ad - hoc network communication devices, and use the latest navigation information of the central boat as the input information for the formation navigation control of the unmanned boats and input it into their own formation navigation controllers.

[0013] Preferably, in step S3: Generate formation instructions according to the navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends its navigation information to each non - central boat. Each non - central boat performs heading control and speed control according to its configured formation navigation controller; the central boat executes the navigation plan according to its configured formation navigation controller and performs track - following control, including:

[0014] Step S31: The command operator independent of the formation determines the formation shape and the structural parameters of the formation according to the task requirements and the attributes of each unmanned boat; the attribute is used to indicate whether the unmanned boat is a central boat or a non - central boat, and the attribute can be set by the command operator; determine the formation parameters of the central boat and each non - central boat according to the formation shape and structural parameters. The formation parameters include the number, attribute, and relative coordinates of each unmanned boat with respect to the central boat, and send the formation parameters to each unmanned boat;

[0015] Step S32: The command operator determines the formation group navigation plan according to the task requirements. The formation group navigation plan includes waypoint latitudes and longitudes, route numbers, and speeds. After all unmanned boats receive the formation parameters, send the formation group navigation plan to the central boat;

[0016] Step S33: The central boat among the multiple unmanned boats sends the navigation information of the central boat to each non - central boat. Each non - central unmanned boat combines its own navigation and positioning information and the data shared by other unmanned boats, and the formation navigation controller configured by itself performs heading control and speed control; the central boat executes the navigation plan according to the formation navigation controller configured by itself and performs track - following control.

[0017] Preferably, each non - central unmanned boat combines its own navigation and positioning information and the data shared by other unmanned boats, and the formation navigation controller configured by itself performs heading control and speed control; the central boat executes the navigation plan according to the formation navigation controller configured by itself and performs track - following control, including:

[0018] Step S331: The formation navigation controller of each unmanned boat obtains the attribute of the corresponding unmanned boat, and according to the corresponding attribute, starts the execution unit of the formation navigation controller corresponding to the attribute configured by the unmanned boat itself; the formation navigation controller of the central boat executes the central - boat execution unit, and the central - boat execution unit instructs the central boat to perform track - following control, and performs sliding - average filtering processing on the heading angle and speed of this boat respectively. The filtering formula is:

[0019]

[0020] where N is the filter length, k is the data index, Y(k) is the result of the k - th filtering process, Y(k - 1) is the result of the (k - 1) - th filtering process, x(k) is the k - th input data, and the value of N is adjusted and determined according to the sea conditions;

[0021] The central boat performs real - time update and sharing within the formation of the filtered heading angle, speed, and the longitude and latitude information of this boat through the wireless ad - hoc communication device.

[0022] Step S332: The formation navigation controller of each non - central boat executes the non - central - boat execution unit, and converts the navigation and positioning data obtained by the navigation and positioning device of the unmanned boat into the position coordinates in the body - fixed coordinate system constructed by the central boat; in the body - fixed coordinate system, the center point of the central boat is used as the origin, the bow direction of the unmanned boat is the positive x - axis direction, and the starboard direction of the hull transverse is the positive y - axis direction.

[0023] Based on the longitude and latitude information of the central boat and non - central boats, determine the distance d between the non - central boat and the central boat, and the absolute azimuth angle of the non - central boat relative to the central boat where:

[0024]

[0025] where, is the heading angle of the central boat;

[0026] The navigation and positioning data obtained by the navigation and positioning device of the unmanned boat is converted into the position coordinates (x, y) in the body coordinate system constructed by the central boat as follows:

[0027]

[0028] Each of the non-central boats determines its position deviation (d para , y para ) from the formation of the preset formation based on the relative central boat coordinates (x x , d y ):

[0029]

[0030] The position deviation (d x , d y ) is input into the non-central boat execution unit for heading control and speed control.

[0031] Preferably, in step S1, the navigation and positioning data of the unmanned boat is obtained by using the navigation and positioning device configured on the unmanned boat. Among them, the navigation and positioning device is installed on the central axis of the unmanned boat. The navigation and positioning device includes a Beidou integrated machine and an inertial navigation system. The Beidou integrated machine is used to obtain the position information of the unmanned boat, and the position information of the unmanned boat includes the longitude and latitude of the unmanned boat, as well as the real-time speed and heading of the unmanned boat; the inertial navigation system is used to obtain the heading and attitude information of the unmanned boat, including the heading angle, pitch angle, and roll angle.

[0032] A device for autonomous formation navigation of multiple unmanned boats provided by the present invention includes:

[0033] Positioning module: configured to obtain the navigation and positioning data of the unmanned boat by using the navigation and positioning device configured on the unmanned boat;

[0034] Data interaction module: configured to realize data interaction between multiple unmanned boats based on wireless ad hoc network;

[0035] Navigation plan execution module: configured to generate formation instructions according to the navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends the navigation information of the central boat to each non-central boat, and each non-central boat performs heading control and speed control according to the formation navigation controller configured by itself; the central boat executes the navigation plan according to the formation navigation controller configured by itself for track tracking control.

[0036] A computer-readable storage medium provided by the present invention stores multiple instructions; the multiple instructions are used to be loaded and executed by a processor to perform the method as described above.

[0037] An electronic device provided by the present invention is characterized in that the electronic device includes:

[0038] A processor for executing multiple instructions;

[0039] A memory for storing multiple instructions;

[0040] Among them, the multiple instructions are used to be stored by the memory and loaded and executed by the processor to perform the method as described above.

[0041] Beneficial technical effects brought by the present invention:

[0042] (1) The present invention can realize the autonomous formation navigation of multiple unmanned boats and achieve the ability of unmanned boat cluster operation;

[0043] (2) The present invention combines a sliding average filtering algorithm to reduce random disturbances in sea conditions and improve the overall navigation stability of the formation;

[0044] (3) The present invention can realize the dynamic adjustment of the number and member attributes during the formation navigation of multiple unmanned boats, improving the flexibility and reliability of the cluster formation;

[0045] (4) The present invention can realize the dynamic adjustment ability of the unmanned boat at the formation center in the formation group, ensuring timely adjustment according to operation requirements or in case of failure of the unmanned boat at the formation center, and further improving the flexibility and reliability during the navigation of the entire formation. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the architecture for the autonomous formation navigation of multiple unmanned boats of the present invention;

[0047] Figure 2 It is a schematic diagram of the self-organizing network structure relationship of the formation of the present invention;

[0048] Figure 3 It is a schematic diagram of coordinate conversion of the present invention;

[0049] Figure 4 It is a schematic diagram of the formation navigation control of multiple unmanned boats of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0050] The present invention will be described in detail below with reference to the drawings and embodiments.

[0051] As Figure 1 shown, the present invention proposes a method for the autonomous formation navigation of multiple unmanned boats, and the method includes:

[0052] Step S1: Obtain the navigation and positioning data of the unmanned boat by using the navigation and positioning equipment configured on the unmanned boat itself;

[0053] Step S2: Realize data interaction between multiple unmanned boats based on a wireless ad hoc network;

[0054] Step S3: Generate formation instructions according to the navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends its navigation information to each non - central boat. Each non - central boat performs heading control and speed control according to the formation navigation controller configured on itself; the central boat executes the navigation plan according to the formation navigation controller configured on itself and performs track - following control.

[0055] In the step S1, the navigation and positioning data of the unmanned boat is obtained by using the navigation and positioning equipment configured on the unmanned boat itself. Among them, the navigation and positioning equipment is installed on the central axis of the unmanned boat to avoid the influence of installation position error on data accuracy. The navigation and positioning equipment includes a Beidou integrated machine and an inertial navigation system. The Beidou integrated machine is used to obtain the position information of the unmanned boat, and the position information of the unmanned boat includes the longitude and latitude of the unmanned boat, as well as the real - time speed and heading of the unmanned boat; the inertial navigation system is used to obtain the heading and attitude information of the unmanned boat, including the heading angle, pitch angle, and roll angle;

[0056] The inertial navigation system realizes integrated navigation based on the data of the Beidou integrated machine and the heading and attitude information of the unmanned boat, and improves the positioning accuracy through a filtering algorithm. Further, when the Beidou integrated machine is affected by environmental interference and cannot obtain positioning information, the inertial navigation system switches to the pure inertial navigation mode, does not use the data of the Beidou integrated machine, and outputs longitude and latitude, speed, and heading and attitude information to ensure that the unmanned boat can continue to sail and operate.

[0057] In this embodiment, the Beidou integrated machine supports the Beidou and GPS satellite positioning systems.

[0058] The step S2: Realize data interaction between multiple unmanned boats based on a wireless ad hoc network, including:

[0059] Step S21: A wireless ad hoc network communication device is configured on each unmanned boat. The wireless ad hoc network communication device is a set of wireless communication devices including multiple communication nodes, which is used for data interaction between multiple unmanned boats; each pair of communication nodes can communicate with each other, and all nodes can dynamically form a network, so as to ensure the dynamic adjustment of the number of formation members, and all nodes in the ad hoc network realize data synchronization and sharing.

[0060] Step S22: Based on the wireless ad-hoc network communication device, the central unmanned boat of the formation, i.e., the central boat, synchronizes and shares the real-time navigation information of the central boat itself in the entire ad-hoc network group; other unmanned boats in the formation group obtain the latest navigation information of the central boat in real time based on their own ad-hoc network communication devices, and use the latest navigation information of the central boat as the input information for the formation navigation control of the unmanned boat and input it into their own formation navigation controllers.

[0061] In step S3: Generate formation instructions according to the navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends the navigation information of the central boat to each non-central boat, and each non-central boat performs heading control and speed control according to the formation navigation controller configured by itself; the central boat executes the navigation plan according to the formation navigation controller configured by itself and performs track tracking control, including:

[0062] Step S31: The command operator independent of the formation determines the formation shape and the structure parameters of the formation according to the task requirements and the attributes of each unmanned boat; the attribute is used to indicate whether the unmanned boat is a central boat or a non-central boat, and the attribute can be set by the command operator; determine the formation parameters of the central boat and each non-central boat according to the formation shape and structure parameters, where the formation parameters include the numbers, attributes, and coordinates relative to the central boat of each unmanned boat, and send the formation parameters to each unmanned boat;

[0063] Step S32: The command operator determines the formation group navigation plan according to the task requirements. The formation group navigation plan includes waypoint latitudes and longitudes, route numbers, and speeds. After all unmanned boats receive the formation parameters, send the formation group navigation plan to the central boat;

[0064] In step S33: The central boat among the multiple unmanned boats sends the navigation information of the central boat to each non-central boat. Each non-central unmanned boat combines its own navigation and positioning information and the data shared by other unmanned boats, and performs heading control and speed control by the formation navigation controller configured by itself; the central boat executes the navigation plan according to the formation navigation controller configured by itself and performs track tracking control.

[0065] Further, each non-central unmanned boat combines its own navigation and positioning information and the data shared by other unmanned boats, and performs heading control and speed control by the formation navigation controller configured by itself; the central boat executes the navigation plan according to the formation navigation controller configured by itself and performs track tracking control, including:

[0066] Step S331: The formation navigation controller of each unmanned boat acquires the attributes of its corresponding unmanned boat, and according to the corresponding attributes, starts the execution unit of the formation navigation controller configured in the unmanned boat itself corresponding to the attributes; the formation navigation controller of the center boat executes the center boat execution unit, and the center boat execution unit instructs the center boat to perform track tracking control, and performs moving average filtering processing on the heading angle and speed of the boat itself respectively. The filtering formula is:

[0067]

[0068] where N is the filter length, k is the data index, Y(k) is the result of the k-th filtering process, Y(k - 1) is the result of the (k - 1)-th filtering process, x(k) is the k-th input data, and the value of N is adjusted and determined according to the sea conditions;

[0069] The center boat updates and shares the filtered heading angle, speed, and the longitude and latitude information of the boat itself in real time within the formation through the wireless ad hoc network communication device;

[0070] Step S332: The formation navigation controller of each non-center boat executes the non-center boat execution unit, and converts the navigation and positioning data obtained by the navigation and positioning device of the unmanned boat into the position coordinates in the body-fixed coordinate system constructed by the center boat; in the body-fixed coordinate system, the center point of the center boat is used as the origin, the bow direction of the unmanned boat is the positive x-axis direction, and the starboard direction of the boat body is the positive y-axis direction.

[0071] Based on the longitude and latitude information of the center boat and the non-center boats, determine the distance d between the non-center boat and the center boat, and the absolute azimuth angle of the non-center boat relative to the center boat where:

[0072]

[0073] where, is the heading angle of the center boat;

[0074] The navigation and positioning data obtained by the navigation and positioning device of the unmanned boat is converted into the position coordinates (x, y) in the body-fixed coordinate system constructed by the center boat as:

[0075]

[0076] Each non-center boat determines its position deviation (d para , y para ) from the preset formation shape based on the relative center boat coordinates (x x , d y ) and the position coordinates (x, y):

[0077]

[0078] Input the position deviation (d x , d y ) into the non - central boat execution unit for course control and speed control.

[0079] In the present invention, the formation navigation controller integrates a central boat execution unit and a non - central boat execution unit, and switches the corresponding execution unit according to the attributes of the unmanned boats.

[0080] An embodiment of a method for autonomous formation navigation of multiple unmanned boats provided by the present invention includes the following steps:

[0081] Step S1. Obtain the navigation and positioning data of the unmanned boat by using a navigation and positioning device;

[0082] In this example, the navigation and positioning device is installed on the central axis of the hull of the unmanned boat, close to the middle position of the hull in the front - rear direction, to avoid the influence brought by installation errors.

[0083] In this example, the Beidou integrated machine outputs positioning information at a 10Hz update rate through the serial port, receives the message and resolves the data to obtain the longitude and latitude, speed, track direction and other real - time information of the unmanned boat. The inertial navigation outputs the heading and attitude information at a 100Hz update rate through the serial port, receives the message and resolves the data to obtain the heading angle, pitch angle and roll angle of the unmanned boat. The positioning data of the Beidou integrated machine is used as the input of the inertial navigation at the same time. The inertial navigation receives the positioning data to realize integrated navigation and outputs longitude, latitude and speed information, improving the navigation and positioning accuracy.

[0084] Step S2. Realize data interaction between multiple unmanned boats through a wireless ad - hoc network communication device;

[0085] In this example, the wireless ad - hoc network communication device includes multiple communication node devices, and the technical states of each device are exactly the same. The ad - hoc network topology structure and the deployment position relationship are as shown in the appendix Figure 2 As shown, one of them is installed in the command and control system, and the rest of the communication node devices are installed on each unmanned boat in the formation. All communication nodes can communicate with each other pairwise, thereby realizing the communication between the command and control system and each unmanned boat. At the same time, all unmanned boats can also realize data synchronization and sharing.

[0086] In this example, the wireless ad - hoc network communication device nodes can form a network flexibly and dynamically. When a new formation member joins, it can automatically join the ad - hoc network to realize data synchronization and sharing as long as it enters the normal communication range, ensuring the dynamic adjustment of the number of formation members.

[0087] Step S3: Establish the formation shape and member attributes and construct the corresponding formation navigation controller according to different attributes.

[0088] Step S3.1: Determine the formation and member attributes: As shown in Figure 2 , the operator formulates the formation according to the mission requirements. Assign member attributes to each formation member according to the formation, including 1 formation center boat and other member boats; finally, through the ad-hoc network communication device in step S2, send down the formation parameters, including the unmanned boat number, member attributes, and position relationship coordinates.

[0089] Step S3.2: Send down the formation navigation plan. The command operator formulates the formation group navigation plan according to the mission requirements, including relevant information such as the longitude and latitude of waypoints, route number, and navigation speed; after confirming that all members have received the formation parameters, through the ad-hoc network communication device in step S2, send the formation navigation plan to the formation center unmanned boat.

[0090] Step S3.3: The formation navigation controllers installed on each formation member unmanned boat, based on the received navigation plan and formation parameters, combined with the navigation and positioning information and the shared data of the formation members, control the unmanned boat actuator through the formation navigation control algorithm to achieve autonomous formation navigation of multiple unmanned boats.

[0091] In particular, the formation navigation control algorithm in step 3.3 includes:

[0092] Step 3.3.1: Formation center unmanned boat control algorithm;

[0093] In this example, for the formation center unmanned boat, after receiving the formation navigation plan, the controller executes the single-boat track tracking control process and executes the formation navigation plan;

[0094] Synchronously filter the navigation and positioning data collected by the navigation and positioning device in step S1; adopt the sliding average filtering algorithm to filter the heading angle and navigation speed of this boat respectively, and the filtering formula is:

[0095]

[0096] where N is the filter length, and its value is adjusted and determined according to the sea conditions.

[0097] The formation center unmanned boat updates and shares the main navigation information such as the heading, navigation speed, and longitude and latitude of this boat after filtering through the wireless ad-hoc network communication device in step S2 in the formation group in real time.

[0098] Step 3.3.2: Control algorithm for other formation member boats. It includes a coordinate transformation module and a formation navigation control module.

[0099] The coordinate system conversion module described in this example: is used to convert the latitude and longitude data of this boat into the position coordinates in the body-fixed coordinate system established with the center unmanned boat of the formation. First, a two-dimensional body-fixed coordinate system is established with the formation center node as the origin, the x-axis is the bow direction, and the y-axis is the starboard direction of the hull transverse; the latitude and longitude coordinates of the center unmanned boat of the formation are obtained through the ad-hoc network, and the distance d between this boat and the center boat of the formation, as well as the absolute azimuth angle of this boat relative to the center boat of the formation, are calculated based on the latitude and longitude information of the two boats. The position coordinate conversion formula of this boat in the body-fixed coordinate system of the center boat of the formation obtained through coordinate conversion is as follows:

[0100]

[0101] Where is the course angle of the center unmanned boat of the formation, and is the absolute azimuth angle of this boat relative to the center unmanned boat of the formation.

[0102] The coordinates in the body-fixed coordinate system of the center unmanned boat of the formation calculated therefrom are:

[0103]

[0104] The formation navigation control module described in this example: is used for the formation navigation control of other member boats in the formation. Based on the formation parameter (x para , y para ) initially issued by the command and control system and the relative coordinates (x, y) after coordinate conversion, the navigation position deviation of this boat is calculated as follows:

[0105]

[0106] Based on the above navigation deviation (d x , d y ), it is used as the input of the formation navigation controller, and the adjustment amount of the relevant actuator is calculated, and the formation is kept stable by controlling the course and speed.

[0107] Step 3.3.3: The formation navigation control algorithms in Step 3.3.1 and Step 3.3.2 are both deployed in the formation navigation controller. In this example, the algorithm working process in the formation controller is as Figure 4 shown, and the two can be flexibly scheduled and switched according to the member attributes in the formation parameter.

[0108] Based on the flexible and dynamic networking characteristics of the wireless ad-hoc network device described in Step S2, when a new member joins the formation, it automatically joins the ad-hoc network to achieve data sharing.

[0109] When, based on mission requirements or in the event of a malfunction of the existing formation center unmanned boat, the member attributes are re-specified and the control algorithm is automatically switched, the dynamic adjustment of the formation center unmanned boat in the formation group can be achieved, ensuring the flexibility and reliability during the entire formation navigation process.

[0110] The present invention provides a device for autonomous formation navigation of multiple unmanned boats, and the device includes:

[0111] A positioning module: configured to obtain the navigation and positioning data of the unmanned boat by using the navigation and positioning equipment configured on the unmanned boat itself;

[0112] A data interaction module: configured to realize data interaction between multiple unmanned boats based on a wireless ad-hoc network;

[0113] A navigation plan execution module: configured to generate formation instructions according to a navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends the navigation information of the central boat to each non-central boat, and each non-central boat performs heading control and speed control according to the formation navigation controller configured on itself; the central boat executes the navigation plan according to the formation navigation controller configured on itself and performs track tracking control.

[0114] A computer-readable storage medium provided by the present invention, wherein multiple instructions are stored in the storage medium; the multiple instructions are used to be loaded and executed by a processor to perform the method as described above.

[0115] An electronic device provided by the present invention, characterized in that the electronic device includes:

[0116] A processor, configured to execute multiple instructions;

[0117] A memory, configured to store multiple instructions;

[0118] Wherein, the multiple instructions are used to be stored by the memory and loaded and executed by the processor to perform the method as described above.

[0119] The above specific embodiments only describe the design principle of the present invention. The shapes and names of the components in this description can be different and are not limited. Therefore, those skilled in the art of the present invention can modify or equivalently replace the technical solutions recorded in the foregoing embodiments; and these modifications and replacements do not depart from the spirit and technical solutions of the present invention, and shall all fall within the protection scope of the present invention.

Claims

1. A method for autonomous formation navigation of multiple unmanned boats, characterized in that, The method includes: Step S1: Obtain the navigation and positioning data of the unmanned boat by using the navigation and positioning equipment configured on the unmanned boat itself; Step S2: Implement data interaction among multiple unmanned boats based on a wireless ad-hoc network; Step S3: Generate formation instructions according to the navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends the navigation information of the central boat to each non-central boat. Each non-central boat performs heading control and speed control according to the formation navigation controller configured on itself; the central boat executes the navigation plan according to the formation navigation controller configured on itself and performs track tracking control.

2. The method according to claim 1, wherein The step S2: Implement data interaction among multiple unmanned boats based on a wireless ad-hoc network, including: Step S21: A wireless ad-hoc network communication device is configured on each unmanned boat. The wireless ad-hoc network communication device is a set of wireless communication devices including multiple communication nodes and is used for data interaction among multiple unmanned boats; each pair of the communication nodes can perform network communication with each other, and all nodes can dynamically form a network, so as to ensure dynamic adjustment of the number of formation members, and all nodes in the ad-hoc network achieve data synchronization and sharing. Step S22: Based on the wireless ad-hoc network communication device, the central unmanned boat of the formation, that is, the central boat, synchronizes and shares the real-time navigation information of the central boat itself in the entire ad-hoc network group; other unmanned boats in the formation group obtain the latest navigation information of the central boat in real time based on their own ad-hoc network communication devices, and use the latest navigation information of the central boat as the input information for the formation navigation control of the unmanned boat and input it into their own formation navigation controllers.

3. The method according to claim 1, wherein The step S3: Generate formation instructions according to the navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends the navigation information of the central boat to each non-central boat. Each non-central boat performs heading control and speed control according to the formation navigation controller configured on itself; The central boat executes the navigation plan according to the formation navigation controller configured on itself and performs track tracking control, including: Step S31: The command operator independent of the formation determines the formation shape of the formation and the structure parameters of the formation according to the task requirements and the attributes of each unmanned boat; the attribute is used to indicate whether the unmanned boat is a central boat or a non-central boat, and the attribute can be set by the command operator; determine the formation parameters of the central boat and each non-central boat according to the formation shape and structure parameters. The formation parameters include the numbers, attributes, and coordinates relative to the central boat of each unmanned boat, and send the formation parameters to each unmanned boat; Step S32: The command operator determines the formation group navigation plan according to the task requirements. The formation group navigation plan includes the longitude and latitude of waypoints, route numbers, and speeds. After all unmanned boats receive the formation parameters, send the formation group navigation plan to the central boat; Step S33: The central boat among the multiple unmanned boats sends the navigation information of the central boat to each non - central boat. Each non - central unmanned boat combines its own navigation and positioning information and the data shared by other unmanned boats, and the formation - sailing controller configured on itself performs heading control and speed control; the central boat executes the navigation plan according to the formation - sailing controller configured on itself and performs track - following control.

4. The method according to claim 3, characterized in that, Each non - central unmanned boat combines its own navigation and positioning information and the data shared by other unmanned boats, and the formation - sailing controller configured on itself performs heading control and speed control; the central boat executes the navigation plan according to the formation - sailing controller configured on itself and performs track - following control, including: Step S331: The formation - sailing controller of each unmanned boat obtains the attribute of its corresponding unmanned boat, and according to the corresponding attribute, starts the execution unit of the formation - sailing controller corresponding to the attribute configured on the unmanned boat itself; the formation - sailing controller of the central boat executes the central - boat execution unit, and the central - boat execution unit instructs the central boat to perform track - following control and perform sliding - average filtering processing on the heading angle and speed of the boat itself respectively. The filtering formula is: where N is the filter length, k is the data index, Y(k) is the result of the k - th filtering process, Y(k - 1) is the result of the (k - 1) - th filtering process, x(k) is the k - th input data, and the value of N is determined by adjusting according to the sea conditions; The central boat updates and shares the filtered heading angle, speed, and the longitude and latitude information of the boat itself in real - time within the formation through the wireless ad - hoc network communication device. Step S332: The formation - sailing controller of each non - central boat executes the non - central - boat execution unit, and converts the navigation and positioning data obtained by the navigation and positioning device of the unmanned boat into the position coordinates in the body - fixed coordinate system constructed by the central boat; in the body - fixed coordinate system, the center point of the central boat is used as the origin, the bow direction of the unmanned boat is the positive x - axis direction, and the right - hand side direction of the boat body is the positive y - axis direction. Based on the longitude and latitude information of the central boat and non - central boats, determine the distance d between the non - central boat and the central boat, and the absolute azimuth angle of the non - central boat relative to the central boat Where: Among them, is the course angle of the central boat; The navigation and positioning data obtained by the navigation and positioning device of the unmanned boat is converted into the position coordinates (x, y) in the body - fixed coordinate system constructed by the central boat as: Each of the non - central boats determines its position deviation (d para , d para ) from the formation of the preset formation based on the relative central - boat coordinates (x x , y y ) in the formation parameters and its position coordinates (x, y): Input the position deviation (d x , d y ) into the off-center boat execution unit to perform heading control and speed control.

5. The method according to any one of claims 1-4, characterized in that, In step S1, the navigation and positioning data of the unmanned boat is obtained by using the navigation and positioning device configured on the unmanned boat itself. Among them, the navigation and positioning device is installed on the central axis of the unmanned boat. The navigation and positioning device includes a Beidou integrated machine and an inertial navigation system. The Beidou integrated machine is used to obtain the position information of the unmanned boat, and the position information of the unmanned boat includes the longitude and latitude of the unmanned boat, as well as the real - time speed and heading of the unmanned boat; the inertial navigation system is used to obtain the heading and attitude information of the unmanned boat, including the heading angle, pitch angle, and roll angle.

6. A device for autonomous formation navigation of multiple unmanned boats, characterized in that, The device includes: A positioning module: configured to obtain the navigation and positioning data of the unmanned boat by using the navigation and positioning device configured on the unmanned boat itself; A data interaction module: configured to realize data interaction between multiple unmanned boats based on a wireless ad - hoc network; Navigation plan execution module: Configured to generate formation instructions according to a navigation plan. Based on the formation instructions, the central boat among the multiple unmanned boats sends the navigation information of the central boat to each non - central boat, and each non - central boat performs heading control and speed control according to the formation navigation controller configured for itself; the central boat executes the navigation plan according to the formation navigation controller configured for itself and performs trajectory tracking control.

7. A computer - readable storage medium, in which multiple instructions are stored; the multiple instructions are used to be loaded and executed by a processor to perform the method according to any one of claims 1 - 5.

8. An electronic device, characterized in that, The electronic device includes: A processor for executing multiple instructions; A memory for storing multiple instructions; Wherein, the multiple instructions are used to be stored by the memory and loaded and executed by the processor to perform the method according to any one of claims 1 - 5.

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