Floating ship multi-mode autonomous operation system and method

Abstract

The invention discloses a multi-mode autonomous operation system and method for a floating boat, and belongs to the technical field of floating boats, and the system comprises a floating boat platform which comprises a boat body, a propelling system and a power module; the core control unit is arranged in the ship body and serves as a central processing core of the system; the environment sensing module is installed on the ship body and used for collecting surrounding environment data and hydrological information in real time; the task load module is mounted on the ship body in a replaceable manner according to the operation task; and the communication module is used for carrying out data interaction with a remote control center or other equipment. According to the multi-mode autonomous operation system and method for the floating ship, through deep integration of hardware modularization, software intelligence and control strategy diversification, a universal, flexible, intelligent and efficient floating ship autonomous operation platform is successfully constructed, and the problems that in the prior art, the function is single, adaptability is poor, and cooperation is difficult are effectively solved; and the device has extremely high practical value and wide market prospect.

Description

Technical Field

[0001] This invention relates to the field of floating vessel technology, specifically to a multi-mode autonomous operation system and method for floating vessels. Background Technology

[0002] With the deepening development of marine exploration, inland waterway management, and smart city construction, unmanned surface vessels (USVs), also known as floating vessels, have shown great application potential in fields such as environmental monitoring, hydrological surveys, emergency rescue, and security patrols. Traditional floating vessel operation systems are usually single-function, designed to achieve specific tasks (such as water quality sampling or topographic mapping), lacking versatility and flexibility. When task requirements change, it is often necessary to make hard modifications to the entire system or replace it with different vessels, resulting in high operating costs and low efficiency.

[0003] Most existing autonomous floating vessels possess basic remote-controlled or pre-programmed navigation capabilities, but their intelligent decision-making level is limited. Specifically, the following are the main problems: 1. Fixed mode: The system can usually only work in a preset mode (such as simply sailing from point A to point B), and cannot dynamically and intelligently switch the operation mode according to real-time received instructions or perceived environmental changes.

[0004] 2. Rigid functionality: The mission payload is tightly coupled with the ship platform, making it difficult to replace and adapt to diverse operational tasks (such as switching from water quality sampling to emergency rescue instantly).

[0005] 3. Poor adaptability: It is difficult to achieve high-precision fixed-point stationing in complex hydrological environments (such as those with wind and current disturbances); in multi-vehicle cooperation scenarios, there is a lack of effective collaborative formation control mechanisms, and the ability to maintain formation and cooperate in operations is insufficient.

[0006] 4. Disconnect between perception and decision-making: Environmental perception modules are usually only used for data collection or simple obstacle avoidance. Their rich multimodal data (such as visual, radar, and hydrological information) have not been deeply integrated to serve higher-level autonomous decision-making and mode switching.

[0007] Therefore, there is an urgent need in this field for an integrated, intelligent, and modular floating vessel operation system that can combine multiple operation modes and make autonomous decisions and seamlessly switch modes according to task requirements and environmental conditions, thereby achieving "one vessel for multiple uses" and efficient autonomous operation. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides a floating vessel multi-mode autonomous operation system and method, which has the advantages of high integration and multi-functionality, intelligent autonomy and flexible decision-making, modular design and strong scalability, high precision and strong anti-interference ability, and efficient collaborative operation capability. It effectively solves the pain points of existing technologies such as single function, poor adaptability, and difficulty in collaboration, and has extremely high practical value and broad market prospects.

[0009] To achieve the above objectives, the present invention provides the following technical solution: A floating vessel multi-mode autonomous operation system includes: A floating vessel platform, comprising a hull, a propulsion system, and a power module; The core control unit is located inside the hull and serves as the central processing core of the system. An environmental sensing module, which is installed on the hull, is used to collect surrounding environmental data and hydrological information in real time; A mission payload module, which is installed on the hull in different locations depending on the mission. A communication module, which is used to interact with a remote control center or other devices; The core control unit is electrically connected to the environmental perception module, the mission payload module, the propulsion system, and the communication module, respectively. The core control unit has pre-stored control strategies for multiple operating modes, and can autonomously make decisions based on instructions received through the communication module or data from the environmental perception module to switch and execute the corresponding operating mode. The operational modes include at least autonomous patrol mode, regional monitoring mode, fixed-point stationing mode, and collaborative formation mode.

[0010] Furthermore, the environment perception module includes: A visual sensing unit, the visual sensing unit including at least one camera; A distance detection unit, wherein the distance detection unit includes at least one of lidar, millimeter-wave radar and ultrasonic sensor; The positioning and orientation unit includes a Global Navigation Satellite System (GNSS) receiver and an Inertial Measurement Unit (IMU). A hydrological sensing unit, comprising at least one of water temperature, pH value, turbidity, and chlorophyll concentration sensors.

[0011] Furthermore, the mission payload module is one or more of the following modules: A water quality sampling module, comprising a robotic arm and a sampling bottle; An underwater detection module, the underwater detection module including a retractable sonar; An information relay module, the information relay module including an extended antenna; An emergency rescue module, which includes a lifebuoy throwing device.

[0012] Furthermore, the core control unit includes: The mode decision subunit is used to trigger mode switching based on instructions or environmental information. The path planning subunit is used to generate or track a predetermined path in autonomous cruise mode and cooperative formation mode. The dynamic positioning subunit is used to control the propulsion system in fixed-point stationing mode to counteract wind and current disturbances and keep the hull in a high-precision positioning position. The task execution subunit is used to control the task payload module to work according to the preset strategy in the area monitoring mode, and to work with the path planning subunit to complete the area coverage.

[0013] Furthermore, the communication module supports at least two of the following methods: 4G / 5G mobile networks, radio, and satellite communication; the system interacts with a remote control center, other floating vessels, or drones through the communication module to achieve multi-platform collaborative operation.

[0014] Another technical problem to be solved by the present invention is to provide a multi-mode autonomous operation method for a floating vessel, comprising the following steps: S1. The system is powered on and initialized, and obtains its own status and surrounding environment information through the environmental perception module. S2. The core control unit receives the work task instructions issued through the communication module, or generates task objectives autonomously based on preset strategies. S3. The core control unit selects a target operation mode from a variety of pre-stored operation modes according to the operation task instruction or task objective. S4. The core control unit calls the corresponding control strategy according to the selected target operation mode, and coordinates the propulsion system, environmental perception module and task payload module to perform the operation. S5. During the operation, monitor environmental changes or receive new instructions in real time, and determine whether the mode switching conditions are met; if so, return to step S3.

[0015] Furthermore, when the target operating mode is autonomous cruise mode, step S4 includes: The path planning subunit plans the global path connecting the starting point and the ending point; During navigation, local path replanning is performed based on real-time data from the environmental perception module to avoid static or dynamic obstacles. The control propulsion system drives the ship to sail along the planned path.

[0016] Furthermore, when the target operation mode is the area monitoring mode, step S4 includes: The path planning subunit generates a zigzag or spiral path covering the entire area based on the boundary information of the area to be monitored. The task execution subunit controls the task payload module to collect data at preset time or spatial intervals during navigation along the path.

[0017] Furthermore, when the target operation mode is a fixed-point stationing mode, step S4 includes: The dynamic positioning subunit uses the target station point as the center and sets an allowable positioning error radius; Continuously acquire the real-time position and attitude data of the hull from the positioning and orientation unit; By using PID control algorithms or model predictive control algorithms, the propulsion force required to overcome wind and current disturbances is calculated, and the propulsion system is controlled to keep the ship's position within the stated positioning error radius.

[0018] Furthermore, when the target operation mode is collaborative formation mode, step S4 includes: The system receives its own position and formation instructions from the lead ship via the communication module. The path planning subunit calculates the expected relative position of the ship with respect to the lead ship based on the formation instructions. Control the propulsion system to enable the vessel to track the desired relative position and maintain a preset formation with the lead vessel.

[0019] Compared with the prior art, the present invention provides a floating vessel multi-mode autonomous operation system and method, which has the following beneficial effects: 1. The floating vessel multi-mode autonomous operation system and method integrates multiple operation modes such as autonomous cruise, area monitoring, fixed-point stationing and collaborative formation into a single system, realizing "one vessel for multiple uses"; users do not need to configure dedicated vessels for different tasks, which greatly expands the application scenarios of floating vessels, reduces the overall purchase and maintenance costs, and achieves the advantages of high integration and multi-functionality.

[0020] 2. The floating vessel multi-mode autonomous operation system and method, through the control strategies of multiple operation modes pre-stored in the core control unit, can make autonomous decisions based on remote commands or real-time data based on the environmental perception module and trigger mode switching; thus, the system has a high degree of intelligence and situational adaptability, and can cope with complex and unexpected changes in the operating environment, achieving the advantages of intelligent autonomy and flexible decision-making.

[0021] 3. The floating vessel multi-mode autonomous operation system and method adopts a replaceable design for mission payload modules (such as water quality sampling, underwater detection, information relay, emergency rescue, etc.), which enables the system to quickly adapt to different tasks like "changing tools", greatly improving the system's functional flexibility and mission response speed. This modular architecture also facilitates the integration of new mission payloads in the future, achieving the advantages of modular design and strong scalability.

[0022] 4. The floating vessel's multi-mode autonomous operation system and method, with its specially optimized fixed-point stationing mode, can effectively counteract environmental disturbances such as wind and current through dynamic positioning sub-units and advanced control algorithms (such as PID or model predictive control), achieving high-precision positioning and maintenance of the hull. This provides reliable technical support for long-term fixed-point observation and monitoring tasks, achieving the advantages of high precision and strong anti-interference capability.

[0023] 5. This floating vessel multi-mode autonomous operation system and method supports collaborative formation mode and interacts with other platforms such as pilot vessels and drones through multi-mode communication modules (4G / 5G, radio, satellite), realizing multi-platform collaborative operation. This not only improves the operational range and efficiency but also lays the foundation for executing complex cluster tasks, achieving the advantage of highly efficient collaborative operation capabilities. Attached Figure Description

[0024] Figure 1 This is a system block diagram of a floating vessel multi-mode autonomous operation system proposed in this invention; Figure 2 This is a flowchart illustrating a multi-mode autonomous operation method for floating vessels proposed in this invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0026] Please see Figure 1 The floating vessel multi-mode autonomous operation system in this embodiment includes a floating vessel platform, a core control unit, an environmental perception module, a mission payload module, and a communication module.

[0027] In this embodiment, the floating platform includes: Hull: The hull features a catamaran structure made of composite materials, offering excellent stability and corrosion resistance. The interior of the hull includes waterproof compartments for housing the core control unit and power modules.

[0028] Propulsion system: Two brushless DC motors drive two propellers respectively to form a differential propulsion system, which can realize the forward, backward, turning and turning in place of the hull.

[0029] Power module: It uses a lithium-ion battery pack as the main power source and is equipped with a solar panel as an auxiliary power source to provide long-lasting power for the entire system.

[0030] In this embodiment, the core control unit is located inside the waterproof main cabin of the ship. Essentially, it is an embedded industrial computer equipped with a high-performance processor. At the software level, it includes the following functional subunits: The mode decision subunit runs a state machine algorithm. It continuously listens for instructions from the communication module (such as "proceed to point A for sampling") and data from the environmental perception module (such as "person found in water"). When preset conditions are met (such as receiving a new instruction or identifying an emergency event), it immediately triggers a mode switch. For example, switching from "autonomous cruise mode" to "fixed-point stationing mode" or "emergency rescue mode".

[0031] Path planning subunit: integrates a path planning algorithm library.

[0032] In autonomous cruise mode, the A* (A-Star) algorithm is used to plan the globally optimal path from the starting point to the destination.

[0033] In the regional monitoring mode, the "ox-plowing method" (zigzag path) or spiral filling algorithm is used to generate a navigation path that completely covers the region based on the input polygon boundary (such as longitude and latitude coordinate strings).

[0034] In collaborative formation mode, the ship's desired tracking position is calculated in real time based on its own position and formation parameters (such as "diamond formation, distance 50 meters") sent by the lead ship.

[0035] Dynamic Positioning Subunit: Specifically designed for fixed-point garrison mode. This subunit defines a circular tolerance zone with a radius of 1.5 meters centered on the target point. It calculates the precise real-time attitude of the hull at a frequency of Hz by fusing GNSS (providing absolute position) and IMU (providing high-frequency attitude and acceleration) data. Subsequently, a classic PID controller calculates the corrective force to be applied to the port and starboard thrusters based on the position deviation, dynamically controlling the propulsion system to resist wind and water current disturbances, firmly "locking" the hull within the tolerance zone.

[0036] Task execution subunit: Responsible for scheduling task payload modules. For example, in area monitoring mode, it works in conjunction with the path planning subunit to control the water quality sampling module to automatically collect water samples at key waypoints along the path, or to control the underwater detection module to continuously perform sonar scans.

[0037] In this embodiment, the environment perception module includes: Visual perception unit: Includes a front-facing 1080P wide-angle camera and a rear-facing infrared night vision camera, used to acquire images and video streams of the surrounding environment, which can be used for target recognition (such as identifying buoys, people falling into the water) and obstacle avoidance assistance.

[0038] Distance detection unit: This includes a 16-line lidar mounted on the top of the ship and an array of ultrasonic sensors mounted around the hull. The lidar is used for obstacle detection and contour recognition at medium to long ranges, while the ultrasonic sensors are used for collision avoidance at close range, especially when berthing or avoiding small floating objects.

[0039] The positioning and orientation unit includes a high-precision GNSS receiver (supporting RTK differential positioning with centimeter-level accuracy) and a nine-axis IMU (containing a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer). Both units fuse data using a Kalman filter algorithm to provide the system with continuous, stable, and high-precision position, heading, roll, and pitch information.

[0040] Hydrological sensing unit: Includes a multi-parameter water quality sensor that can measure and upload hydrological information such as water temperature, pH value, dissolved oxygen and turbidity in real time.

[0041] In this embodiment, the mission payload module uses a standard mechanical and electrical interface, allowing for quick plug-and-play replacement. The mission payload module includes: Water sampling module: Includes a lightweight robotic arm with five degrees of freedom and an array of 12 500ml automatic sampling bottles installed inside the ship's hull. The core control unit can control the robotic arm to extend the designated sampling bottle into the water to a specific depth to complete the sampling.

[0042] Underwater detection module: includes a motorized, retractable fairing-type single-beam sonar for underwater topographic mapping and object detection.

[0043] Information relay module: Includes a liftable 4G / 5G omnidirectional high-gain antenna for providing communication relay services to other devices or personnel in areas with weak signals.

[0044] Emergency rescue module: includes a compressed air-driven lifebuoy throwing device with a maximum throwing distance of 50 meters. It can be automatically aimed by a visual sensing unit or manually controlled by a remote control center.

[0045] In this embodiment, the communication module includes: Employing a multi-mode communication gateway, the system simultaneously supports 4G / 5G public networks, VHF / UHF radio, and maritime satellite communication. The system prioritizes 4G / 5G networks for high-volume data transmission (such as video streams and sonar data) by default. In areas without public network signals, it automatically switches to satellite communication to ensure the continuity of basic commands and status data. Radio serves as a backup solution for short-range, high-speed self-organizing networks.

[0046] Through this module, the system can conduct two-way data transmission with the remote control center, receive instructions and send back status and collected data; it can form a formation with other floating vessels to achieve collaborative operations; it can also conduct cross-domain collaboration with drones, such as using drones to conduct large-scale aerial reconnaissance and guide floating vessels to targets. Example

[0047] Please see Figure 2 The floating vessel multi-mode autonomous operation method in this embodiment includes the following steps: S1. System power-on initialization: The floating platform is powered on, the core control unit starts up and performs a self-test. The environmental perception module begins working, the positioning and orientation unit acquires initial latitude and longitude coordinates and heading, other sensors are calibrated, and the system is ready.

[0048] S2. The core control unit receives task instructions or autonomously generates task objectives: Scenario A (Remote Command): The remote control center issues a command to the core control unit via the communication module: "Go to coordinates (X1, Y1) to conduct fixed-point water quality monitoring".

[0049] Scenario B (Autonomous Generation): The system generates the task objective autonomously after the predetermined time arrives, based on a preset strategy, such as "automatically conduct regional patrols of Lake Area B at 2 PM every day".

[0050] S3, Select the target operating mode in the core control unit: The pattern decision subunit of the core control unit parses the task instructions or objectives.

[0051] For the instructions in scenario A, it identifies the key actions as "go to" and "fixed point", and therefore decides that the operation mode sequence is: first enter the autonomous cruise mode to navigate to (X1, Y1), and then switch to the fixed point stationing mode.

[0052] For task B in scenario B, it directly selects the area monitoring mode.

[0053] S4. The core control unit invokes the control strategy to execute the task: The following examples illustrate different modes: When the mode is set to autonomous cruise mode (heading to the destination): The path planning sub-unit starts at the current coordinates and ends at (X1, Y1), using electronic map information to plan a safe global path.

[0054] During navigation, based on real-time data from lidar and cameras, once an obstacle (such as a fishing boat or fishing net) is detected ahead, local path replanning is immediately performed to detour and avoid it.

[0055] The mission execution subunit controls the propulsion system, driving the ship to sail stably along the planned path.

[0056] When the mode is switched to fixed-point garrison mode (reaching the target point): The dynamic positioning subunit is activated, setting (X1, Y1) as the target station point and setting the positioning error radius to 1 meter.

[0057] It continuously acquires high-precision real-time position data after GNSS / IMU fusion and compares it with the target point.

[0058] Once the ship is detected to be drifting due to crosswinds, the PID control algorithm is immediately used to calculate the compensating thrust and control the propulsion system to counteract it, thus stabilizing the ship's position within the allowable error range.

[0059] Meanwhile, the task execution subunit controls the water quality sampling module to perform sampling according to a preset program.

[0060] When the mode is set to area monitoring mode (performing patrol tasks): The path planning sub-unit receives the boundary coordinates of lake area B and automatically generates a zigzag path covering the entire lake area.

[0061] The mission execution subunit controls the underwater detection module to work continuously and controls the hydrological sensing unit to record a set of water quality data every meter of navigation.

[0062] When the mode is cooperative formation mode (cooperating with other ships): The system receives instructions from the lead ship regarding its position, speed, and formation (such as "straight line formation, 30-meter spacing") via the communication module.

[0063] Based on this information, the path planning subunit calculates the ship's expected relative position in real time.

[0064] Control the propulsion system to enable the ship to accurately track this dynamically changing desired position and maintain a preset formation with the lead ship for joint navigation.

[0065] S5. Real-time determination of whether the mode switching conditions are met: The system continuously monitors the process: Monitoring environmental changes: For example, during area monitoring, the visual perception unit suddenly detects that someone has fallen into the water. The mode decision-making subunit will immediately determine that the conditions for switching from "area monitoring mode" to "emergency rescue mode" are met.

[0066] Receive new instructions: For example, the control center issues an emergency order requiring the current task to be interrupted and the operator to immediately proceed to a new location to perform a relay task.

[0067] If the switching conditions are met, return to step S3 and reselect the target operation mode (e.g., switch to "Autonomous Cruise Mode" to go to the new location, then switch to "Fixed-Point Stationing Mode" and enable the "Information Relay Module"). If the conditions are not met, continue executing the current operation mode until the task is completed.

[0068] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-mode autonomous operation system for floating vessels, characterized in that, include: A floating vessel platform, comprising a hull, a propulsion system, and a power module; The core control unit is located inside the hull and serves as the central processing core of the system. An environmental sensing module, which is installed on the hull, is used to collect surrounding environmental data and hydrological information in real time; A mission payload module, which is installed on the hull in different locations depending on the mission. A communication module, which is used to interact with a remote control center or other devices; The core control unit is electrically connected to the environmental perception module, the mission payload module, the propulsion system, and the communication module, respectively. The core control unit has pre-stored control strategies for multiple operating modes, and can autonomously make decisions based on instructions received through the communication module or data from the environmental perception module to switch and execute the corresponding operating mode. The operational modes include at least autonomous patrol mode, regional monitoring mode, fixed-point stationing mode, and collaborative formation mode.

2. The floating vessel multi-mode autonomous operation system according to claim 1, characterized in that, The environment sensing module includes: A visual sensing unit, the visual sensing unit including at least one camera; A distance detection unit, wherein the distance detection unit includes at least one of lidar, millimeter-wave radar and ultrasonic sensor; The positioning and orientation unit includes a Global Navigation Satellite System (GNSS) receiver and an Inertial Measurement Unit (IMU). A hydrological sensing unit, comprising at least one of water temperature, pH value, turbidity, and chlorophyll concentration sensors.

3. The floating vessel multi-mode autonomous operation system according to claim 1, characterized in that: The task payload module is one or more of the following modules: A water quality sampling module, comprising a robotic arm and a sampling bottle; An underwater detection module, the underwater detection module including a retractable sonar; An information relay module, the information relay module including an extended antenna; An emergency rescue module, which includes a lifebuoy throwing device.

4. The floating vessel multi-mode autonomous operation system according to claim 1, characterized in that: The core control unit includes: The mode decision subunit is used to trigger mode switching based on instructions or environmental information. The path planning subunit is used to generate or track a predetermined path in autonomous cruise mode and cooperative formation mode. The dynamic positioning subunit is used to control the propulsion system in fixed-point stationing mode to counteract wind and current disturbances and keep the hull in a high-precision positioning position. The task execution subunit is used to control the task payload module to work according to the preset strategy in the area monitoring mode, and to work with the path planning subunit to complete the area coverage.

5. A floating vessel multi-mode autonomous operation system according to claim 1, characterized in that: The communication module supports at least two of the following methods: 4G / 5G mobile network, radio, and satellite communication; the system interacts with a remote control center, other floating vessels, or drones through the communication module to achieve multi-platform collaborative operation.

6. A method for multi-mode autonomous operation of a floating vessel, employing the multi-mode autonomous operation system for a floating vessel as described in any one of claims 1-5, characterized in that, Includes the following steps: S1. The system is powered on and initialized, and obtains its own status and surrounding environment information through the environmental perception module. S2. The core control unit receives the work task instructions issued through the communication module, or generates task objectives autonomously based on preset strategies. S3. The core control unit selects a target operation mode from a variety of pre-stored operation modes according to the operation task instruction or task objective. S4. The core control unit calls the corresponding control strategy according to the selected target operation mode, and coordinates the propulsion system, environmental perception module and task payload module to perform the operation. S5. During the operation, monitor environmental changes or receive new instructions in real time, and determine whether the mode switching conditions are met; if so, return to step S3.

7. A multi-mode autonomous operation method for a floating vessel according to claim 6, characterized in that, When the target operation mode is autonomous cruise mode, step S4 includes: The path planning subunit plans the global path connecting the starting point and the ending point; During navigation, local path replanning is performed based on real-time data from the environmental perception module to avoid static or dynamic obstacles. The control propulsion system drives the ship to sail along the planned path.

8. A method for multi-mode autonomous operation of a floating vessel according to claim 6, characterized in that, When the target operation mode is the area monitoring mode, step S4 includes: The path planning subunit generates a zigzag or spiral path covering the entire area based on the boundary information of the area to be monitored. The task execution subunit controls the task payload module to collect data at preset time or spatial intervals during navigation along the path.

9. A method for multi-mode autonomous operation of a floating vessel according to claim 6, characterized in that, When the target operation mode is fixed-point stationing mode, step S4 includes: The dynamic positioning subunit uses the target station point as the center and sets an allowable positioning error radius; Continuously acquire the real-time position and attitude data of the hull from the positioning and orientation unit; By using PID control algorithms or model predictive control algorithms, the propulsion force required to overcome wind and current disturbances is calculated, and the propulsion system is controlled to keep the ship's position within the stated positioning error radius.

10. A multi-mode autonomous operation method for a floating vessel according to claim 6, characterized in that, When the target operation mode is collaborative formation mode, step S4 includes: The system receives its own position and formation instructions from the lead ship via the communication module. The path planning subunit calculates the expected relative position of the ship with respect to the lead ship based on the formation instructions. Control the propulsion system to enable the vessel to track the desired relative position and maintain a preset formation with the lead vessel.

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