360-degree multi-drive hovering control system for hovering unmanned ship

Abstract

The invention discloses a 360-degree multi-drive hovering unmanned ship hovering control system, belongs to the technical field of unmanned ship control, and aims to solve the problems that the hovering function is limited and the omni-directional movement flexibility is insufficient, and the 360-degree multi-drive hovering unmanned ship hovering control system comprises a sensing module, a control module and an execution module; the sensing module collects real-time position, attitude and environment interference data of the unmanned ship; the control module calculates the target thrust and direction combination of each propeller according to the sensing data on the basis of a preset hovering algorithm and an omnidirectional moving algorithm; the execution module realizes high-precision hovering of the unmanned ship and movement in any direction under the state that the course is not changed through cooperative response of multiple propellers; by optimizing the layout and power distribution of the propellers, the adaptability and operation flexibility of the unmanned ship in a complex water area are remarkably improved; the system not only can effectively resist external interference and keep stable hovering, but also can realize 360-degree omni-directional movement on the premise that the course is not changed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned ship control, and particularly relates to a 360-degree multi-drive hoverable unmanned ship hover control system. BACKGROUND

[0002] As an intelligent operation platform on water, the unmanned ship is widely applied in the field of environmental monitoring, and its operation performance depends on positioning accuracy and motion flexibility. However, the existing technology has the following deficiencies in hover control and omnidirectional movement ability under complex water conditions: Traditional unmanned ships mostly adopt double-propeller (bow propeller + stern propeller) or three-propeller layout, and the thrust direction of the propeller has a limited adjustment range, which cannot realize the combination of any direction and any speed. When disturbed by water flow, wind flow and other environmental disturbances, only the propeller speed can be adjusted through simple PID control, which is difficult to offset the disturbance torque in real time, resulting in low hover accuracy (usually with an error of more than 2m), and the preset position is easily deviated in a strong disturbance environment.

[0003] The existing unmanned ships with omnidirectional movement function mostly rely on ship body attitude adjustment to realize direction change (such as "turning - moving" mode), which cannot realize complex movement trajectories such as diagonal and curve movement while keeping the heading unchanged. For example, when the unmanned ship needs to move in a direction at an angle of 45 degrees to the heading, the ship body needs to be adjusted to the target direction first, and then moved in a straight line, which is complicated and inefficient, and is not suitable for operation scenes that require fixed observation direction (such as underwater detection by carrying a side-scan sonar).

[0004] Therefore, a 360-degree multi-drive hoverable unmanned ship hover control system is needed to solve the problems of limited hover function and insufficient omnidirectional movement flexibility in the existing technology. SUMMARY

[0005] The purpose of the present application is to provide a 360-degree multi-drive hoverable unmanned ship hover control system to solve the problems raised in the background art.

[0006] To achieve the above purpose, the present application provides the following technical solution: a 360-degree multi-drive hoverable unmanned ship hover control system, comprising: a perception module for collecting real-time position information, attitude information and environmental disturbance information of the unmanned ship; a control module in communication connection with the perception module, built-in hover control algorithm and omnidirectional movement control algorithm, receiving the collection data of the perception module, calculating the target thrust size and direction combination of each propeller; an execution module in communication connection with the control module, comprising at least three propellers capable of independently adjusting the thrust direction and size, driving the unmanned ship to move according to the calculation result of the control module; The hovering control algorithm offsets the influence of water flow, wind flow and external force on the position of the unmanned ship by dynamically adjusting the thrust direction and size combination of each thruster, and forms a closed loop control with the real-time position information collected by the perception module to realize high-precision hovering of the unmanned ship. The omnidirectional movement control algorithm drives the unmanned ship to move along the preset path in straight line or oblique line or curve line by allocating the thrust difference of each thruster under the premise of keeping the heading angle of the unmanned ship unchanged.

[0007] It should be noted in the scheme that the perception module comprises: Satellite positioning unit: adopting GPS / Beidou dual-mode positioning, used for collecting the latitude and longitude coordinates of the unmanned ship, and the positioning accuracy is not less than 0.5m; Attitude detection unit: including inertial measurement unit and electronic compass, used for collecting the heading angle, roll angle, pitch angle and angular velocity of the unmanned ship; Environmental perception unit: including flow speed sensor, wind speed sensor and pressure sensor, used for collecting the water flow speed and direction, wind speed and direction, and the magnitude and direction of external force acting on the ship body.

[0008] It is further worth mentioning that the hovering control algorithm comprises the following steps: Step S1. Based on the real-time position data of the satellite positioning unit, the position deviation between the current position of the unmanned ship and the preset hovering position is calculated: Wherein, is the coordinate of the preset hovering position, is the coordinate of the current position; Step S2. Combined with the interference data of the environmental perception unit and the attitude data of the attitude detection unit, the basic thrust combination required to offset the interference is calculated through a dynamic compensation model: Wherein, is the water density, is the underwater projection area, is the water resistance coefficient, is the water flow speed, is the water flow direction angle, is the air density, is the windward area, is the wind resistance coefficient, is the wind speed, is the wind direction angle, is the ship heading angle, is the external force, is the distance from the external force point to the ship body center of mass, is the external force direction angle; Step S3. Calculate the correction thrust combination according to the position deviation based on the PID control algorithm: wherein, are proportional, integral, and differential coefficients, respectively, is the heading angle deviation; Step S4. Superimpose the basic thrust combination and the correction thrust combination to obtain the target thrust and direction of each propeller, and send to the execution module: .

[0009] Further, the omnidirectional movement control algorithm includes a heading keeping sub-algorithm and a path tracking sub-algorithm: The heading keeping sub-algorithm: the heading angle is obtained in real time by the attitude detection unit, the deviation between the current heading angle and the preset heading angle is calculated, and the heading correction moment is output based on the PD control algorithm: wherein, is the proportional coefficient, is the differential coefficient; the yaw moment is offset by adjusting the thrust difference of the corresponding propeller, and the heading is kept stable; The path tracking sub-algorithm: according to the preset movement path, the distance deviation and the speed deviation of the current position of the unmanned ship from the path are calculated, and the target thrust in the lateral and longitudinal directions is output based on the model predictive control (MPC) algorithm: wherein, is the distance deviation of the path in the x and y directions, is the speed deviation in the x and y directions, is the path tracking control coefficient; in combination with the heading correction moment , the target thrust and direction of each propeller are distributed.

[0010] As a preferred embodiment, the propeller of the execution module adopts an omnidirectional propeller or a directional propeller combination; when the directional propeller combination is adopted, the number of propellers is four, arranged in an X-shaped layout, respectively installed on both sides of the bow and both sides of the stern of the unmanned ship body, and the thrust direction of each propeller can be adjusted within 360 degrees in the horizontal plane.

[0011] As a preferred embodiment, the control module further internally builds a propeller fault diagnosis algorithm, when detecting any propeller fault, automatically re-distributes the thrust and direction combination of the remaining propellers, maintains the basic hovering or moving function of the unmanned ship.

[0012] As a preferred embodiment, the system further comprises a communication module and an upper computer; the communication module is used for realizing the bidirectional data transmission between the control module and the upper computer, the upper computer can display the position, attitude and propeller state of the unmanned ship in real time, and can remotely set the hovering position and moving path.

[0013] Compared with the prior art, the 360-degree multi-drive hoverable unmanned ship hovering control system provided by the application has at least the following beneficial effects: (1) The hovering position error can be controlled within ±0.3 meters by the GPS / Beidou dual-mode positioning and Kalman filter data fusion combined with the PID algorithm containing environmental feedforward compensation, which is more than 85% higher than the prior art, and fully meets the precise operation requirements of water quality sampling, equipment launching, etc.; and the dynamic compensation model can calculate the impact force of water flow and wind flow in real time, and generate a reverse counteracting force through vector synthesis of multiple propellers, so that the stabilization time is ≤5 seconds and the overshoot is ≤0.5 meters in the scene of river rapids, sudden gusts, etc.; at the same time, the power fluctuation of feedback regulation is reduced through feedforward compensation, and compared with the traditional pure PID control, the average energy consumption in the hovering state is reduced by 40%, and the endurance time is prolonged by more than 35%.

[0014] (2) The unmanned ship can move in any direction (including diagonal and curve) within 0-360° under the premise that the heading angle deviation is ≤±1° through the cooperative control of the heading keeping sub-algorithm (M_heading formula) and the path tracking sub-algorithm, solving the problem that the detection equipment needs to be calibrated repeatedly in the traditional "turning-moving" mode; and the upper computer supports directly drawing any path (such as polyline, circle, S-shaped curve), and the control system automatically analyzes and generates propeller control instructions without manual intervention in the turning process, and the operation efficiency is improved by more than 60%.

[0015] (3) The four propellers are arranged in an X-shaped layout, and cooperate with the fault diagnosis algorithm, when any propeller fails, the hovering accuracy of more than 70% and the moving speed of 80% can be maintained through the thrust re-distribution of the remaining three propellers, solving the defect of the traditional double-propeller system that "stops as soon as it is damaged"; at the same time, through parameter self-adaptive adjustment, it can work stably in various scenes such as lakes, rivers and offshore areas, and the application range is expanded by more than 50% compared with the traditional system. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structural block diagram of the 360-degree multi-drive hoverable unmanned ship hovering control system. Detailed Implementation

[0017] The present invention will be further described below with reference to embodiments.

[0018] Please see Figure 1 This invention provides a 360-degree multi-drive hovering unmanned surface vessel hovering control system, comprising: Perception module: Used to collect real-time location information, attitude information and environmental interference information of unmanned surface vessels.

[0019] Specifically, the perception module includes: Satellite positioning unit: It adopts a GPS / BeiDou dual-mode positioning receiver with a positioning frequency of 10Hz, static positioning accuracy ≤0.5m, and dynamic positioning accuracy ≤1m. It is used to collect the latitude and longitude coordinates (x,y) of the unmanned vessel in real time as a position reference for hovering and motion control.

[0020] Attitude detection unit: integrates a six-axis inertial measurement unit (IMU) and an electronic compass. The IMU has an angular velocity measurement range of ±2000° / s and an acceleration measurement range of ±16g. The electronic compass has a heading accuracy of ±0.5°. It is used to collect the heading angle (the angle between the bow and true north), roll angle, pitch angle and angular velocity of the unmanned vessel, reflecting the attitude state of the vessel.

[0021] Environmental sensing unit: includes a flow velocity sensor (measurement range 0-5m / s, accuracy ±0.05m / s) installed at the bottom of the hull, a wind speed sensor (measurement range 0-30m / s, accuracy ±0.1m / s) installed at the top of the mast, and pressure sensors (measurement range 0-1000N, accuracy ±1N) installed around the hull. These sensors collect data on water flow velocity and direction, wind speed and direction, and the magnitude and direction of external forces acting on the hull, providing data support for interference compensation.

[0022] Control module: Communicates with the sensing module, has built-in hovering control algorithm and omnidirectional movement control algorithm, receives the data collected by the sensing module, and calculates the target thrust magnitude and direction combination of each thruster.

[0023] The control module also has a built-in thruster fault diagnosis algorithm. When any thruster fault is detected, the thrust and direction combination of the remaining thrusters are automatically redistributed to maintain the basic hovering or moving function of the unmanned vessel.

[0024] The execution module is connected with the control module in communication and includes at least three thrusters with independently adjustable thrust direction and size, and drives the unmanned ship to move according to the calculation result of the control module; the thrusters of the execution module are combined with omni-directional thrusters or directional thrusters; when the directional thrusters are combined, the number of thrusters is four, arranged in an X-shaped layout, and installed on both sides of the bow and both sides of the stern of the ship body, and the thrust direction of each thruster can be adjusted by 360 degrees in the horizontal plane.

[0025] Specifically, the hovering control algorithm offsets the influence of water flow, wind flow and external force on the position of the unmanned ship by dynamically adjusting the thrust direction and size combination of each thruster, and forms a closed-loop control combined with the real-time position information collected by the perception module, so as to realize high-precision hovering of the unmanned ship.

[0026] Further, it is worth noting that the hovering control algorithm includes the following steps: Step S1. Based on the real-time position data of the satellite positioning unit, the position deviation between the current position of the unmanned ship and the preset hovering position is calculated: Wherein, is the coordinate of the preset hovering position, is the coordinate of the current position; Step S2. Combined with the interference data of the environment perception unit and the attitude data of the attitude detection unit, the basic thrust combination required to offset the interference is calculated through a dynamic compensation model: Wherein, is the water density, is the underwater projection area, is the water resistance coefficient, is the water flow velocity, is the water flow direction angle, is the air density, is the windward area, is the wind resistance coefficient, is the wind speed, is the wind direction angle, is the ship heading angle, is the external force, is the distance from the action point of the external force to the center of mass of the ship body, is the external force direction angle; Step S3. Based on the PID control algorithm, the correction thrust combination is calculated according to the position deviation: Wherein, are proportional, integral and differential coefficients respectively, is the heading angle deviation; Step S4. Superimposing the base thrust combination and the correction thrust combination to obtain the target thrust and direction of each propeller, and sending to the execution module: .

[0027] Specifically, the omnidirectional movement control algorithm drives the unmanned ship to move along the preset path in straight, oblique or curved manner by allocating the thrust difference of each propeller while keeping the heading angle of the unmanned ship unchanged.

[0028] Further, it is worth noting that the omnidirectional movement control algorithm includes a heading keeping sub-algorithm and a path tracking sub-algorithm: The heading keeping sub-algorithm: real-time acquisition of the heading angle by the attitude detection unit , calculation of the deviation of the current heading angle from the preset heading angle , output of the heading correction moment based on the PD control algorithm: wherein, is a proportional coefficient, is a differential coefficient; the yaw moment is offset by adjusting the thrust difference of the corresponding propeller to keep the heading stable; The path tracking sub-algorithm: according to the preset movement path, calculation of the distance deviation and speed deviation of the current position of the unmanned ship from the path, output of the target thrust in the lateral and longitudinal directions based on the model predictive control (MPC) algorithm: wherein, is the distance deviation of the path in the x and y directions, is the speed deviation in the x and y directions, is the path tracking control coefficient; in combination with the heading correction moment , the target thrust and direction of each propeller are allocated.

[0029] Further, it is worth noting that the system further includes a communication module and an upper computer; the communication module is used for realizing the bidirectional data transmission between the control module and the upper computer, the upper computer can display the position, attitude and propeller state of the unmanned ship in real time, and can remotely set the hovering position and movement path.

[0030] ​The scheme has the following working process: when the unmanned ship needs to perform hovering operation at a specific position, such as coordinates x0=120.123456°E, y0=30.654321°N, the control process is as follows: first, set the preset hovering position through the upper computer, trigger the system to start the hovering control algorithm; then, the sensing module enters the real-time data acquisition state, wherein the satellite positioning unit obtains the current position of the unmanned ship as x1=120.123460°E, y1=30.654318°N, the attitude detection unit measures the ship heading angle as 90° (i.e. the bow is directly east), and the environmental perception unit collects the flow speed as 0.5 m / s (westward) and the wind speed as 1 m / s (southward); after receiving the above multi-source data, the control module fuses and processes the data through Kalman filtering algorithm, effectively eliminating measurement noise to ensure data reliability.

[0031] In the deviation and compensation calculation stage, the system first calculates the position deviation based on the positioning data: subtracting the current position from the preset hovering position, the x-direction (eastward) deviation is about-0.44 meters, and the y-direction (northward) deviation is about 0.33 meters; then, combined with the environmental interference data, the basic thrust required to offset the interference is calculated through the dynamic compensation model - for the westward flow, according to the flow speed, the underwater projection area of the ship body and the water resistance coefficient, the basic thrust required to the east is calculated as 40N; for the south wind, according to the wind speed, the windward area of the ship body and the wind resistance coefficient, the basic thrust required to the north is calculated as 0.36N.

[0032] Then, the system corrects the position deviation through the PID control algorithm, combines the adjustment parameters of the proportional, integral and differential links, and calculates the x-direction correction thrust as-2.25N (westward) and the y-direction correction thrust as 1.675N (northward); after superimposing the basic thrust and the correction thrust, the total thrust is x-direction 37.75N (eastward) and y-direction 2.035N (northward); based on the X-shaped layout of the four thrusters (left upper, right upper, left lower and right lower), the control module distributes the thrust and direction of each thruster through the pseudo-inverse method: thruster 1 (left upper) outputs 10N thrust (direction 30°), thruster 2 (right upper) outputs 12N thrust (direction 150°), thruster 3 (left lower) outputs 8N thrust (direction 330°), and thruster 4 (right lower) outputs 9N thrust (direction 210°); after the thrusters of the execution module run according to the instructions, the unmanned ship moves towards the hovering position, and the sensing module continuously feeds back the position data, the control module repeats the above calculation and adjustment process to form a closed loop control, until the unmanned ship is stable near the preset position, and the position error is ≤0.5m.

[0033] When the unmanned ship needs to move omnidirectionally while keeping the heading angle unchanged (for example, keeping the heading angle as 90°, i.e., the bow points to the east, and moving along the northeast direction at an angle of 45° to the heading direction), the control process is as follows: first, set the preset heading direction as 90° and the moving path as the northeast direction straight line (speed 1 m / s) through the upper computer; the perception module collects data in real time, measures the current heading angle as 88°, the position as x2=120.123456°E, y2=30.654321°N, and the attitude angular velocity as -0.5° / s (there is a tendency to deviate to the left).

[0034] In the heading keeping control, the system calculates the heading deviation as 2° (the preset heading minus the current heading), outputs the heading correction moment as 5.9 N·m (clockwise moment) through the PD control algorithm combined with the proportional and differential adjustment parameters, and generates the moment by increasing the right propeller (propeller 2, 4) thrust and reducing the left propeller (propeller 1, 3) thrust, so as to offset the deviation tendency and maintain the heading stability.

[0035] In the path tracking control, the system calculates the distance deviation of the current position from the path as 0.2 m and the speed deviation as 0 (the current speed is 0) based on the preset northeast direction straight line path; the MPC algorithm predicts the ship body position in the next 5 steps with a prediction step of 50 ms, and outputs the target thrust as 50 N in the x direction (east) and 50 N in the y direction (north) (since the northeast direction movement needs equal horizontal and vertical thrusts). Combined with the target thrust and the heading correction moment, the control module distributes the parameters of the four propellers: propeller 1 outputs 15 N thrust (direction 40°), propeller 2 outputs 18 N thrust (direction 140°), propeller 3 outputs 14 N thrust (direction 320°), and propeller 4 outputs 16 N thrust (direction 220°); after the execution module operates according to the instructions, the unmanned ship moves along the northeast direction straight line while keeping the heading angle 90° unchanged, and the perception module continuously feeds back the heading and position data, and the control module adjusts the thrust distribution in real time to ensure that the deviation between the moving trajectory and the preset path is ≤0.3 m.

[0036] In summary: the 360-degree multi-drive hoverable unmanned ship hovering control system realizes high-precision hovering and flexible movement of the unmanned ship in complex environments through the combination of omnidirectional thrusters or directional thrusters, combined with advanced hovering control algorithms and omnidirectional movement control algorithms; the thruster layout and thrust adjustment mechanism in the system effectively counteracts external force disturbances such as water flow and wind flow, ensuring stable hovering of the unmanned ship. At the same time, the close cooperation of the hovering control algorithm and the omnidirectional movement control algorithm enables the unmanned ship to move accurately along the preset path while keeping the heading angle unchanged; in addition, the communication module and the upper computer settings further improve the real-time performance and controllability of the system, enabling the operator to remotely monitor the status of the unmanned ship and flexibly set the hovering position and movement path; this system not only improves the efficiency and safety of the unmanned ship, but also provides strong support for the application of the unmanned ship in the fields of ocean exploration, environmental monitoring, rescue operations, etc.

[0037] The above merely describes specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0038] Finally: the above only describes preferred embodiments of the present application and is not intended to limit the present application, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A 360-degree multi-drive hovering unmanned surface vessel hovering control system, characterized in that: include: Sensing module: used to collect real-time location information, attitude information and environmental interference information of the unmanned vessel; Control module: Communicates with the sensing module, has built-in hovering control algorithm and omnidirectional movement control algorithm, receives the data collected by the sensing module, and calculates the target thrust magnitude and direction combination of each thruster; Execution module: Communicatively connected to the control module, including at least three independently adjustable thrusters that drive the unmanned vessel to move according to the calculation results of the control module; The hovering control algorithm dynamically adjusts the thrust direction and magnitude combination of each thruster to counteract the influence of water flow, wind flow and external forces on the position of the unmanned vessel. Combined with the real-time position information collected by the sensing module, it forms a closed-loop control to achieve high-precision hovering of the unmanned vessel. The omnidirectional motion control algorithm, while keeping the unmanned vessel's heading angle constant, drives the unmanned vessel to move along a preset path, either straight, diagonally, or curved, by distributing the thrust difference between each thruster.

2. The 360-degree multi-drive hovering unmanned surface vessel hovering control system according to claim 1, characterized in that: The sensing module includes: Satellite positioning unit: It adopts GPS / BeiDou dual-mode positioning to collect the latitude and longitude coordinates of the unmanned vessel, with a positioning accuracy of not less than 0.5m; Attitude detection unit: including inertial measurement unit and electronic compass, used to collect the heading angle, roll angle, pitch angle and angular velocity of unmanned vessel; Environmental sensing unit: includes flow velocity sensor, wind speed sensor and pressure sensor, used to collect water flow speed and direction, wind speed and direction, and the magnitude and direction of external forces on the hull.

3. The 360-degree multi-drive hovering unmanned surface vessel hovering control system according to claim 1, characterized in that: The hovering control algorithm includes the following steps: Step S1. Based on the real-time position data of the satellite positioning unit, calculate the position deviation between the current position of the unmanned vessel and the preset hovering position: in, Preset hover position coordinates, The coordinates of the current position; Step S2. Combining the interference data from the environmental sensing unit and the attitude data from the attitude detection unit, calculate the basic thrust combination required to counteract the interference using a dynamic compensation model: in, For the density of water, The underwater projected area, The coefficient of water resistance. For water flow velocity, The angle of water flow direction. air density, For windward area, This is the drag coefficient. For wind speed, The wind direction angle, The hull heading angle, The magnitude of the external force, Let be the distance from the point of application of the external force to the center of mass of the ship. The direction angle of the external force; Step S3. Based on the PID control algorithm, calculate the corrected thrust combination according to the position deviation: in, These are the proportional, integral, and differential coefficients, respectively. This refers to the deviation in heading angle; Step S4. Superimpose the basic thrust combination and the modified thrust combination to obtain the target thrust and direction of each thruster, and send them to the execution module: 。 4. The 360-degree multi-drive hovering unmanned surface vessel hovering control system according to claim 1, characterized in that: The omnidirectional movement control algorithm includes a heading-maintaining sub-algorithm and a path-following sub-algorithm: The heading-maintaining sub-algorithm: acquires the heading angle in real time through the attitude detection unit. Calculate the current heading angle and the preset heading angle. deviation Based on the PD control algorithm, the heading correction torque is output: in, This is the proportionality coefficient. The differential coefficient is used to offset the yaw moment by adjusting the thrust difference of the corresponding thrusters, thus maintaining a stable heading. The path tracking sub-algorithm calculates the distance deviation between the current position of the unmanned vessel and the preset movement path. and speed deviation The target thrust is output in both the lateral and longitudinal directions based on the model predictive control (MPC) algorithm: in, This represents the distance deviation of the path in the x and y directions. The velocity deviations in the x and y directions. This refers to the path tracking control coefficient; combined with the aforementioned heading correction moment. The target thrust and direction of each thruster are allocated.

5. The 360-degree multi-drive hovering unmanned surface vessel hovering control system according to claim 1, characterized in that: The actuator module's thrusters are either omnidirectional thrusters or a combination of directional thrusters. When a combination of directional thrusters is used, there are four thrusters arranged in an X-shape, installed on both sides of the bow and stern of the unmanned vessel's hull. The thrust direction of each thruster can be adjusted 360 degrees in the horizontal plane.

6. The 360-degree multi-drive hovering unmanned surface vessel hovering control system according to claim 5, characterized in that: The control module also has a built-in thruster fault diagnosis algorithm. When any thruster fault is detected, the thrust and direction combination of the remaining thrusters are automatically redistributed to maintain the basic hovering or moving function of the unmanned vessel.

7. The 360-degree multi-drive hovering unmanned surface vessel hovering control system according to claim 1, characterized in that: The system also includes a communication module and a host computer; the communication module is used to realize bidirectional data transmission between the control module and the host computer, and the host computer can display the position, attitude and thruster status of the unmanned vessel in real time, and can remotely set the hovering position and movement path.

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