Under-actuated unmanned ship trajectory tracking control method and system

Abstract

The invention relates to the technical field of unmanned ship control, in particular to an under-actuated unmanned ship trajectory tracking control method and system. The method comprises the following steps: acquiring predetermined trajectory data of the underactuated unmanned ship, and setting an identification stamp according to the underactuated unmanned ship; acquiring current trajectory data of the underactuated unmanned ship, dividing a trajectory re-checking sub-region, and detecting a matching condition of predetermined trajectory data and the current trajectory data in the current trajectory re-checking sub-region; updating the residual trajectory, and obtaining the updated trajectory data of the underactuated unmanned ship; the system comprises a predetermined track acquisition module, a current track matching module and a track updating module. By dividing the predetermined trajectory data into the plurality of trajectory review sub-regions, performing trajectory matching in the current region in which the underactuated unmanned ship travels, and performing remaining trajectory updating, the remaining trajectory is updated timely and effectively, the underactuated unmanned ship is prevented from continuing to sail on a wrong trajectory, and the task execution efficiency and quality are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) control technology, and in particular to an underactuated USV trajectory tracking control method and system. Background Technology

[0002] In the fields of marine exploration and environmental monitoring, underactuated unmanned surface vessels (USVs) have been widely used due to their advantages such as simple structure, low cost, and good stealth. Underactuated USVs typically refer to systems where the number of control inputs is less than the number of degrees of freedom. For example, a common underactuated USV may only have a propeller and servo motor as control inputs, but it still needs to control multiple degrees of freedom such as its position and attitude in three-dimensional space.

[0003] In practical applications, underactuated unmanned surface vessels (USVs) need to execute tasks along a predetermined trajectory. However, due to the complexity of the marine environment, such as external disturbances like ocean currents and waves, as well as uncertainties in the USV's own propulsion system and sensors, the actual trajectory of the USV often deviates from the predetermined trajectory. If these deviations are not detected and corrected in time, the USV may be unable to complete its mission or even encounter danger.

[0004] Currently, existing trajectory tracking methods mainly rely on traditional control algorithms, such as PID control and backstepping. These methods can achieve trajectory tracking of unmanned surface vessels (USVs) to a certain extent, but when they detect a mismatch between the USV's trajectory and the predetermined trajectory, they cannot update the remaining trajectory in a timely and effective manner. This causes the underactuated USV to continue sailing on the wrong trajectory, affecting the efficiency and quality of mission execution. Summary of the Invention

[0005] The purpose of this invention is to provide an underactuated unmanned surface vessel (USV) trajectory tracking and control method and system, which aims to solve the technical problem in the prior art where, when a mismatch is found between the USV trajectory and the predetermined trajectory, the remaining trajectory cannot be updated in a timely and effective manner, causing the USV to continue sailing on the wrong trajectory, thus affecting the efficiency and quality of mission execution.

[0006] To achieve the above objectives, the present invention employs an underactuated unmanned surface vessel trajectory tracking control method, comprising the following steps: Acquire the predetermined trajectory data of the underactuated unmanned surface vessel, set an identification stamp according to the underactuated unmanned surface vessel, and assign the identification stamp to the predetermined trajectory data; Acquire the current trajectory data of the underactuated unmanned surface vessel, divide the trajectory verification sub-region, detect the matching between the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region, and output the matching result; Based on the matching results, a trajectory update request is triggered to update the remaining trajectory and obtain the updated trajectory data of the underactuated unmanned surface vessel.

[0007] In the steps of acquiring the predetermined trajectory data of the underactuated unmanned surface vessel, setting an identification stamp based on the underactuated unmanned surface vessel, and assigning the identification stamp to the predetermined trajectory data: According to the mission instructions, acquire the predetermined trajectory data of the underactuated unmanned surface vessel; Acquire data from the underactuated unmanned surface vessel and assign a unique identifier to the underactuated unmanned surface vessel; Generate an identifier stamp and assign it to the predetermined trajectory data.

[0008] In the step of acquiring the predetermined trajectory data of the underactuated unmanned surface vessel according to the mission instructions: Obtain the mission instructions of the underactuated unmanned surface vessel (USV), perform instruction analysis, obtain the mission type, mission area range, mission execution time, and plan the predetermined trajectory data of the USV.

[0009] In the step of generating an identifier stamp and assigning an identifier stamp to the predetermined trajectory data: The generated identifier is assigned to the predetermined trajectory data, and a storage field is added to the storage structure of the predetermined trajectory data to store the identifier.

[0010] Among the steps, the following steps are involved: acquiring the current trajectory data of the underactuated unmanned surface vessel, dividing the trajectory verification sub-region, detecting the matching between the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region, and outputting the matching result: Real-time acquisition of the current trajectory data of the underactuated unmanned surface vessel (USV), and collection of the USV's position and attitude information; The pre-defined trajectory data of the underactuated unmanned surface vessel is divided into multiple trajectory verification sub-regions; In the current trajectory verification sub-region, the predetermined trajectory data is matched with the current trajectory data.

[0011] In the step of dividing the predetermined trajectory data of the underactuated unmanned surface vessel into multiple trajectory verification sub-regions: The multiple trajectory verification sub-regions are further divided into traveled trajectory regions and untraveled trajectory regions.

[0012] In the step of matching the predetermined trajectory data with the current trajectory data in the current trajectory verification sub-region: Iterate through all the predetermined trajectory points and the current trajectory point within the current trajectory verification sub-region, count the number of successfully matched points, and output the matching results.

[0013] Among them, in the steps of triggering a trajectory update request based on the matching result, updating the remaining trajectory, and obtaining the updated trajectory data of the underactuated unmanned surface vessel: Based on the trajectory matching results, a trajectory update request is triggered; Once a trajectory update request is triggered, the remaining trajectory is replanned based on the current state of the underactuated unmanned surface vessel and the mission requirements. After completing the remaining trajectory update, obtain the updated trajectory data.

[0014] In the step of triggering a trajectory update request based on the trajectory matching result: Set a matching threshold; if the matching success rate is greater than or equal to the set threshold, the trajectory update request will not be triggered. If the matching success rate is lower than the set threshold, a trajectory update request will be triggered.

[0015] The present invention also provides an underactuated unmanned surface vessel trajectory tracking and control system, comprising a predetermined trajectory acquisition module, a current trajectory matching module, and a trajectory update module; wherein: The predetermined trajectory acquisition module is used to acquire predetermined trajectory data of the underactuated unmanned surface vessel, set an identification stamp according to the underactuated unmanned surface vessel, and assign an identification stamp to the predetermined trajectory data. The current trajectory matching module is used to acquire the current trajectory data of the underactuated unmanned surface vessel, divide the trajectory verification sub-region, detect the matching of the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region, and output the matching result; The trajectory update module is used to trigger a trajectory update request based on the matching result, perform the remaining trajectory update, and obtain the updated trajectory data of the underactuated unmanned surface vessel.

[0016] The present invention discloses an underactuated unmanned surface vessel (USV) trajectory tracking and control method and system, comprising a predetermined trajectory acquisition module, a current trajectory matching module, and a trajectory update module, performing the following steps: acquiring predetermined trajectory data of the USV; setting an identifier stamp according to the USV and assigning the identifier stamp to the predetermined trajectory data; acquiring the current trajectory data of the USV; dividing the trajectory verification sub-region; detecting the matching between the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region and outputting the matching result; triggering a trajectory update request based on the matching result, performing the remaining trajectory update, and acquiring the updated trajectory data of the USV; by dividing the predetermined trajectory data into multiple trajectory verification sub-regions, performing trajectory matching in the current region where the USV is traveling, and performing the remaining trajectory update, the remaining trajectory can be updated in a timely and effective manner, preventing the USV from continuing to navigate on an incorrect trajectory, thereby improving the execution efficiency and quality of the task. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of the steps of the underactuated unmanned surface vessel trajectory tracking control method of the present invention.

[0019] Figure 2 This is a flowchart of steps S100 of the present invention.

[0020] Figure 3 This is a flowchart of steps S200 of the present invention.

[0021] Figure 4 This is a flowchart of steps S300 of the present invention.

[0022] Figure 5 This is a schematic diagram of the underactuated unmanned surface vessel trajectory tracking control system of the present invention.

[0023] Figure 6 This is a schematic diagram of the electronic device of the present invention.

[0024] 401 - Pre-defined trajectory acquisition module, 402 - Current trajectory matching module, 403 - Trajectory update module. Detailed Implementation

[0025] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0026] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0027] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0028] Please see Figures 1-4 This invention provides an underactuated unmanned surface vessel trajectory tracking control method, comprising the following steps: S100: Acquire the predetermined trajectory data of the underactuated unmanned surface vessel, set an identification stamp according to the underactuated unmanned surface vessel, and assign an identification stamp to the predetermined trajectory data.

[0029] In this embodiment, predetermined trajectory data of the underactuated unmanned surface vessel (USV) is acquired, an identifier is set based on the USV, and the predetermined trajectory data is assigned an identifier. The specific process is as follows: S101: According to the mission instructions, acquire the predetermined trajectory data of the underactuated unmanned surface vessel; S102: Acquire data of the underactuated unmanned surface vessel and assign a unique identifier to the underactuated unmanned surface vessel; S103: Generate an identifier stamp and assign it to the predetermined trajectory data.

[0030] In the above process, after receiving the mission command, the unmanned surface vessel (USV) control system first parses the mission command received by the underactuated USV. The mission command typically includes information such as the mission type (e.g., marine environmental monitoring, target search, cargo transportation), the mission area (e.g., the area defined by latitude and longitude coordinates), and the mission execution time requirements (e.g., start time, end time, or duration). For example, if the mission command is "Conduct marine water quality monitoring in the designated sea area (longitude range: 120°E-121°E, latitude range: 30°N-31°N), with a mission execution time of 8 hours," the parsing reveals that the mission type is marine water quality monitoring, the mission area is the specified latitude and longitude range, and the mission execution time is 8 hours.

[0031] Based on the parsed mission instructions, a trajectory planning algorithm is used to generate the predetermined trajectory data for the underactuated unmanned surface vessel (USV). Trajectory planning comprehensively considers the USV's dynamic characteristics (such as maximum speed, acceleration limits, turning radius, etc.), the terrain of the mission area (such as the presence of obstacles, water depth variations, etc.), and mission requirements (such as the required locations and times of the monitoring points). An example of a trajectory generation formula based on uniform linear motion is shown below: Assuming an unmanned surface vessel (USV) travels from a starting point S(x0, y0) at a constant speed v along a certain direction (heading angle θ), and reaches point P(x, y) after time t, the coordinates of point P can be calculated using the following formula: ; Where (x0, y0) are the starting point coordinates, v is the speed of the unmanned surface vessel (USV), t is the travel time, θ is the heading angle (the angle with due east, counterclockwise is positive), and (x, y) are the position coordinates of the USV after time t. By changing the heading angle θ and the travel time t, a series of coordinate points can be generated, thus forming the predetermined trajectory of the USV.

[0032] Data about the unmanned surface vessel (USV) is acquired using sensors and communication equipment onboard. This data includes the USV's model, dimensions, power system parameters (such as propeller power and propeller speed), and sensor configuration (such as GPS model and IMU accuracy). Based on the acquired data, a unique identifier is generated for each underactuated USV. This unique identifier can take various forms, such as a numerical code or an alphanumeric combination.

[0033] An identification stamp is generated based on the unique identifier and possible other information (such as task number, generation time, etc.). The generation rules for the identification stamp can be designed according to actual needs. For example, the unique identifier, task number, and generation time can be combined and processed using a specific encoding method (such as Base64 encoding) to generate an identification stamp with a certain format and length. For example, if the task number is "Task-001" and the generation time is "2025-01-01 10:00:00", combined with the unique identifier "USV-X1-2025001", an identification stamp is generated after encoding processing. VVNWIC0gWDEgLSAyMDI1MDAwMVRhc2sgLSAwMDFUMjAyNSAtIDAxIC0gMDEgMTA6MDA6MDA= The generated identifier stamp is assigned to the predetermined trajectory data.

[0034] In the storage structure of the predetermined trajectory data, a dedicated field is added to store the identifier stamp. For example, in the database table, an "identifier" field is added to the predetermined trajectory data table, and the generated identifier stamp is stored in this field so that the predetermined trajectory information of the underactuated unmanned surface vessel can be accurately identified and associated during subsequent data processing and trajectory matching.

[0035] S200: Acquire the current trajectory data of the underactuated unmanned surface vessel, divide the trajectory verification sub-region, detect the matching between the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region, and output the matching result.

[0036] In this embodiment, the current trajectory data of the underactuated unmanned surface vessel (USV) is acquired, a trajectory verification sub-region is divided, the matching between predetermined trajectory data and the current trajectory data is detected in the current trajectory verification sub-region, and the matching result is output. The specific process is as follows: S201: Real-time acquisition of the current trajectory data of the underactuated unmanned surface vessel (USV), and collection of the USV's position and attitude information; S202: Divide the pre-planned trajectory data of the underactuated unmanned surface vessel into multiple trajectory verification sub-regions, and further divide the multiple trajectory verification sub-regions into traveled trajectory regions and untraveled trajectory regions; S203: In the current trajectory verification sub-region, match the predetermined trajectory data with the current trajectory data, traverse all predetermined trajectory points and current trajectory points in the current trajectory verification sub-region, count the number of successfully matched points, and output the matching result.

[0037] During the aforementioned process, sensors (such as GPS and IMU) mounted on the underactuated unmanned surface vessel (USV) collect real-time information on the USV's position (longitude, latitude) and attitude (heading angle, roll angle, pitch angle). This data is typically stored in time-series format, with each time point corresponding to a set of position and attitude data. Simultaneously, the collected data can be transmitted in real-time to a ground control station or cloud server via the USV's communication system and stored in a database for subsequent processing and analysis.

[0038] The predetermined trajectory data of the underactuated unmanned surface vessel (USV) is divided into multiple trajectory kernel sub-regions. The division method can be selected according to actual needs, such as division based on distance, time, or geographical features. Based on distance division, the predetermined trajectory is divided into multiple sub-regions at certain distance intervals (such as every 100 meters).

[0039] Based on time division, the predetermined trajectory is divided into multiple sub-regions at certain time intervals (such as every 5 minutes).

[0040] The geographical feature-based division divides the predetermined trajectory into multiple sub-regions based on geographical features within the task area (such as obstacles, monitoring points, etc.).

[0041] Based on the real-time location and predetermined trajectory of the underactuated unmanned surface vessel (USV), it is determined which sub-regions have been traversed and which have not. The traversed areas are those that the USV has already passed through, and the untraversed areas are those that the USV has not yet reached.

[0042] Within the current trajectory verification sub-region, the predetermined trajectory data is matched with the current trajectory data. The specific steps are as follows: Extract trajectory points: Extract all trajectory points within the current review sub-region from the predetermined trajectory data and the current trajectory data.

[0043] Calculate distance: For each predetermined trajectory point, calculate its distance to the current trajectory point. Distance calculation can use the great circle distance formula, which is applicable to latitude and longitude coordinates. The formula for calculating the great circle distance between two points is: ; Where: Φ1 and Φ2 are the latitudes (in radians) of the two points respectively; ΔΦ = Φ2 - Φ1 is the difference in latitude; Δλ is the difference in longitude (in radians); R is the Earth's radius; and d is the great circle distance between the two points.

[0044] Set a matching threshold: Set a distance threshold (e.g., 5 meters). If the distance between the current trajectory point and the predetermined trajectory point is less than the threshold, the two are considered to be matched.

[0045] Count matching points: Traverse all predetermined trajectory points and current trajectory points within the current verification sub-region, and count the number of successfully matched points.

[0046] Output matching results: Calculate the matching rate (number of successfully matched points / total points) based on the number of successfully matched points and the total number of points, and output the matching results.

[0047] The matching rate can be calculated using the following formula: ; A higher matching rate indicates a better match between the current trajectory and the predetermined trajectory.

[0048] S300: Based on the matching results, trigger a trajectory update request, update the remaining trajectory, and obtain the updated trajectory data of the underactuated unmanned surface vessel.

[0049] In this embodiment, based on the matching result, a trajectory update request is triggered to update the remaining trajectory and obtain the updated trajectory data of the underactuated unmanned surface vessel. The specific process is as follows: S301: Trigger a trajectory update request based on the trajectory matching results; S302: When a trajectory update request is triggered, the remaining trajectory is replanned based on the current state of the underactuated unmanned surface vessel and the mission requirements. S303: After completing the remaining trajectory update, obtain the updated trajectory data.

[0050] In the above process, a matching threshold is set based on mission requirements and the performance of the underactuated unmanned surface vessel. This threshold is used to determine whether the degree of matching between the current trajectory and the predetermined trajectory is within an acceptable range. For example, a matching threshold of 90% can be set, meaning that a matching success rate of greater than or equal to 90% is considered a good trajectory match.

[0051] Based on the calculated matching rate, it is determined whether a trajectory update request needs to be triggered. If the matching success rate is greater than or equal to the set threshold, it means that the current trajectory of the underactuated unmanned surface vessel matches the predetermined trajectory well, and no trajectory update request needs to be triggered; if the matching success rate is lower than the set threshold, it means that there is a large deviation between the current trajectory of the unmanned surface vessel and the predetermined trajectory, and a trajectory update request needs to be triggered.

[0052] The matching threshold can be determined using the following logical expression: ; Upon triggering a trajectory update request, the system first acquires the current state information of the underactuated unmanned surface vessel, including its position, speed, attitude, and remaining fuel or battery power. This information will then be used to replan the remaining trajectory.

[0053] Re-analyze the task requirements, including the task area, task execution time, and target points to be reached, to ensure that the re-planned trajectory can meet the task requirements.

[0054] Trajectory Replanning: Based on the current state and mission requirements of the unmanned surface vessel (USV), the remaining trajectory is replanned using the method described in step S100. The replanned remaining trajectory data is stored in the USV's navigation system, replacing the original predetermined trajectory data. The updated trajectory data typically exists as a series of discrete coordinate points, each containing the USV's position information at a specific moment, as well as possible motion parameters such as heading and speed.

[0055] Ensure that the updated trajectory data is synchronized with the unmanned surface vessel's control system and perform necessary verification to ensure that the unmanned surface vessel can safely and accurately perform its mission according to the updated trajectory.

[0056] Corresponding to the aforementioned embodiments of the underactuated unmanned surface vessel trajectory tracking control method, this application also provides embodiments of an underactuated unmanned surface vessel trajectory tracking control system.

[0057] Figure 5 This is a block diagram illustrating an underactuated unmanned surface vessel trajectory tracking control system according to an exemplary embodiment. (Refer to...) Figure 5 The system may include: a predetermined trajectory acquisition module 401, a current trajectory matching module 402, and a trajectory update module 403; wherein: The predetermined trajectory acquisition module 401 is used to acquire predetermined trajectory data of the underactuated unmanned surface vessel, set an identification stamp according to the underactuated unmanned surface vessel, and assign an identification stamp to the predetermined trajectory data. The current trajectory matching module 402 is used to acquire the current trajectory data of the underactuated unmanned surface vessel, divide the trajectory verification sub-region, detect the matching of the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region, and output the matching result; The trajectory update module 403 is used to trigger a trajectory update request based on the matching result, perform the remaining trajectory update, and obtain the updated trajectory data of the underactuated unmanned surface vessel.

[0058] In this embodiment, the predetermined trajectory acquisition module 401 acquires predetermined trajectory data of the underactuated unmanned surface vessel (USV), sets an identifier stamp according to the USV, and assigns an identifier stamp to the predetermined trajectory data; the current trajectory matching module 402 acquires the current trajectory data of the USV, divides it into trajectory verification sub-regions, detects the matching status of the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-regions, and outputs the matching result; the trajectory update module 403 triggers a trajectory update request based on the matching result, performs the remaining trajectory update, and acquires the updated trajectory data of the USV; by dividing the predetermined trajectory data into multiple trajectory verification sub-regions, performing trajectory matching in the current region where the USV is traveling, and performing the remaining trajectory update, the remaining trajectory can be updated in a timely and effective manner, preventing the USV from continuing to navigate on an incorrect trajectory, thereby improving the execution efficiency and quality of the task.

[0059] Regarding the system in the above embodiments, the specific ways in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0060] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0061] Accordingly, this application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the underactuated unmanned surface vessel trajectory tracking control method described above. Figure 6 The diagram shown is a hardware structure diagram of any device with data processing capabilities, which is part of an underactuated unmanned surface vessel trajectory tracking and control system provided in an embodiment of the present invention. (Except for...) Figure 6 In addition to the processor, memory, and network interface shown, any data processing device in the embodiment may also include other hardware depending on the actual function of the data processing device, which will not be described in detail here.

[0062] Accordingly, this application also provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the underactuated unmanned surface vessel trajectory tracking control method described above. The computer-readable storage medium can be an internal storage unit of any data processing device as described in any of the foregoing embodiments, such as a hard disk or memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk, smart media card (SMC), SD card, flash card, etc., equipped on the device. Furthermore, the computer-readable storage medium can include both internal storage units of any data processing device and external storage devices. The computer-readable storage medium is used to store the computer program and other programs and data required by the data processing device, and can also be used to temporarily store data that has been output or will be output.

[0063] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0064] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A method for trajectory tracking and control of an underactuated unmanned surface vessel, characterized in that, Includes the following steps: Acquire the predetermined trajectory data of the underactuated unmanned surface vessel, set an identification stamp according to the underactuated unmanned surface vessel, and assign the identification stamp to the predetermined trajectory data; Acquire the current trajectory data of the underactuated unmanned surface vessel, divide the trajectory verification sub-region, detect the matching between the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region, and output the matching result; Based on the matching results, a trajectory update request is triggered to update the remaining trajectory and obtain the updated trajectory data of the underactuated unmanned surface vessel.

2. The underactuated unmanned surface vessel trajectory tracking control method as described in claim 1, characterized in that, In the steps of acquiring the predetermined trajectory data of the underactuated unmanned surface vessel (USV), setting an identification stamp based on the USV, and assigning the identification stamp to the predetermined trajectory data: According to the mission instructions, acquire the predetermined trajectory data of the underactuated unmanned surface vessel; Acquire data from the underactuated unmanned surface vessel and assign a unique identifier to the underactuated unmanned surface vessel; Generate an identifier stamp and assign it to the predetermined trajectory data.

3. The underactuated unmanned surface vessel trajectory tracking control method as described in claim 2, characterized in that, In the step of acquiring the predetermined trajectory data of the underactuated unmanned surface vessel according to the mission instructions: Obtain the mission instructions of the underactuated unmanned surface vessel (USV), perform instruction analysis, obtain the mission type, mission area range, mission execution time, and plan the predetermined trajectory data of the USV.

4. The underactuated unmanned surface vessel trajectory tracking control method as described in claim 3, characterized in that, In the steps of generating an identifier stamp and assigning an identifier stamp to the predetermined trajectory data: The generated identifier is assigned to the predetermined trajectory data, and a storage field is added to the storage structure of the predetermined trajectory data to store the identifier.

5. The underactuated unmanned surface vessel trajectory tracking control method as described in claim 1, characterized in that, In the steps of acquiring the current trajectory data of the underactuated unmanned surface vessel, dividing the trajectory verification sub-region, detecting the matching between the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region, and outputting the matching result: Real-time acquisition of the current trajectory data of the underactuated unmanned surface vessel (USV), and collection of the USV's position and attitude information; The pre-defined trajectory data of the underactuated unmanned surface vessel is divided into multiple trajectory verification sub-regions; In the current trajectory verification sub-region, the predetermined trajectory data is matched with the current trajectory data.

6. The underactuated unmanned surface vessel trajectory tracking control method as described in claim 5, characterized in that, In the step of dividing the pre-defined trajectory data of the underactuated unmanned surface vessel into multiple trajectory verification sub-regions: The multiple trajectory verification sub-regions are further divided into traveled trajectory regions and untraveled trajectory regions.

7. The underactuated unmanned surface vessel trajectory tracking control method as described in claim 6, characterized in that, In the step of matching the predetermined trajectory data with the current trajectory data within the current trajectory verification sub-region: Iterate through all the predetermined trajectory points and the current trajectory point within the current trajectory verification sub-region, count the number of successfully matched points, and output the matching results.

8. The underactuated unmanned surface vessel trajectory tracking control method as described in claim 1, characterized in that, In the steps of triggering a trajectory update request based on the matching results, updating the remaining trajectory, and obtaining the updated trajectory data of the underactuated unmanned surface vessel: Based on the trajectory matching results, a trajectory update request is triggered; Once a trajectory update request is triggered, the remaining trajectory is replanned based on the current state of the underactuated unmanned surface vessel and the mission requirements. After completing the remaining trajectory update, obtain the updated trajectory data.

9. The underactuated unmanned surface vessel trajectory tracking control method as described in claim 8, characterized in that, In the step of triggering a trajectory update request based on the trajectory matching results: Set a matching threshold; if the matching success rate is greater than or equal to the set threshold, the trajectory update request will not be triggered. If the matching success rate is lower than the set threshold, a trajectory update request will be triggered.

10. An underactuated unmanned surface vessel (USV) trajectory tracking control system, applied to the underactuated USV trajectory tracking control method as described in claim 1, characterized in that, It includes a pre-defined trajectory acquisition module, a current trajectory matching module, and a trajectory update module; among which: The predetermined trajectory acquisition module is used to acquire predetermined trajectory data of the underactuated unmanned surface vessel, set an identification stamp according to the underactuated unmanned surface vessel, and assign an identification stamp to the predetermined trajectory data. The current trajectory matching module is used to acquire the current trajectory data of the underactuated unmanned surface vessel, divide the trajectory verification sub-region, detect the matching of the predetermined trajectory data and the current trajectory data in the current trajectory verification sub-region, and output the matching result; The trajectory update module is used to trigger a trajectory update request based on the matching result, perform the remaining trajectory update, and obtain the updated trajectory data of the underactuated unmanned surface vessel.

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