Unmanned ship automatic docking guiding method

Abstract

The invention relates to the technical field of ship control, in particular to an automatic docking guiding method for an unmanned ship, and the method comprises the following steps: carrying out the preliminary positioning and navigation of the unmanned ship; guiding the docking unmanned ship and the unmanned ship to be docked to sail to a preset position and completing initial course angle alignment; the course and left-right deviation of the unmanned ship are adjusted, and the left-right deviation between the docking unmanned ship and the unmanned ship to be docked is adjusted through a UWB transmitting unit and a UWB receiving unit; unmanned ship navigation fine tuning: fine tuning of poses is realized through a laser emitter and a photosensitive target; and docking and locking the unmanned ship. Through GNSS positioning information and inertial navigation information, the unmanned ship is navigated to a predetermined docking area and preliminary alignment is completed, and then based on UWB distance measurement information and offset information of the laser detection device, the pose of the unmanned ship is dynamically and finely adjusted until the docking mechanism is aligned with the locking mechanism, so that the docking mechanism is locked. The technical problem that in the prior art, when unmanned ships are in butt joint, accurate positioning cannot be conducted for accurate butt joint is solved.

Description

Technical Field

[0001] This invention relates to the field of ship control technology, and specifically to an automatic docking guidance method for unmanned vessels. Background Technology

[0002] Unmanned surface vessels (USVs) are intelligent mobile platforms that navigate rivers, lakes, and seas. Multiple USVs can dock to perform functions such as transportation, recovery, and power supply. Furthermore, multiple USVs can dock in a straight formation to form a single unit, thus constructing dynamic floating infrastructure. However, due to disturbances from wind, waves, and currents, as well as the inherent structure, movement, and tilting of the vessels, there is currently no mature and reliable automatic docking guidance solution for USVs. Traditional USV docking methods mostly involve a moving vessel searching for a stationary vessel for docking, resulting in low efficiency, long time consumption, and often requiring manual docking, adding human intervention to the vessel and increasing its complexity.

[0003] The commonly used automated docking scheme for two unmanned vessels is as follows: A GNSS (Global Navigation Satellite System) positioning system, a visual inspection system, and an infrared laser device are installed on the docking vessel. The location of the vessel to be docked is found based on GNSS positioning data and visual inspection information. The location of the vessel to be docked is set as the target for target tracking, and the docking vessel tracks and heads towards the target. Upon approaching the target, the infrared laser and visual inspection system are used to align the docking devices of the two unmanned vessels. If they are not aligned, they are aligned; if they are aligned, docking is performed. While this scheme achieves docking of two unmanned vessels without human intervention, it has the following problems: ① The positioning accuracy of GNSS technology is limited, making it difficult to meet the requirements for precise unmanned docking in high sea states; ② The complex marine climate and environmental influences result in significant errors in traditional infrared laser positioning, easily leading to docking difficulties.

[0004] In conclusion, there is an urgent need for an accurate, efficient, and safe method for automatic docking of unmanned vessels to address the problems existing in current technologies. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic docking guidance method for unmanned vessels, so as to solve the technical problem that existing technologies cannot accurately locate and perform precise docking of unmanned vessels. The specific technical solution is as follows:

[0006] This invention provides an automatic docking guidance method for unmanned vessels. The docking unmanned vessel is equipped with a first GNSS positioning device, a first inertial navigation system, a laser transmitter, a UWB transmitting unit, and a docking mechanism. The unmanned vessel to be docked is equipped with a second GNSS positioning device, a second inertial navigation system, a photosensitive target, a UWB receiving unit, and a locking mechanism.

[0007] The docking guidance method includes the following steps:

[0008] The unmanned surface vessel (USV) performs initial positioning and navigation by acquiring the attitude of the USV to be docked in real time based on information from the first GNSS positioning device and the first inertial navigation system, and by acquiring the attitude of the USV to be docked in real time based on information from the second GNSS positioning device and the second inertial navigation system; and guides the USV to be docked and the USV to be docked to navigate to the predetermined position and complete the initial heading angle alignment.

[0009] The unmanned vessel's heading and left-right deviation are adjusted by using the UWB transmitting and receiving units to adjust the left-right deviation between the docking unmanned vessel and the unmanned vessel to be docked.

[0010] The unmanned vessel navigation fine-tuning is achieved through laser emitters and photosensitive targets to fine-tune its posture until the docking mechanism and locking mechanism are perfectly aligned.

[0011] Unmanned vessel docking and locking: Controlling the docking unmanned vessel and the unmanned vessel to be docked to approach and dock and lock together.

[0012] A further improvement of the unmanned vessel automatic docking guidance method of the present invention lies in performing an initial position calibration step for the unmanned vessel before its initial positioning and navigation:

[0013] The position coordinates of the first GNSS antenna of the docking unmanned vessel are obtained based on the first GNSS positioning device. Then, the relative positional relationships between the first inertial navigation system, UWB transmitting unit, docking mechanism, laser transmitter, first GNSS antenna and the center of the vessel are measured respectively.

[0014] The position coordinates of the second GNSS antenna of the unmanned vessel to be docked are obtained from the second GNSS positioning device. Then, the relative positional relationships between the second inertial navigation system, UWB receiving unit, locking mechanism, photosensitive target, second GNSS antenna and the center of the vessel to be docked are measured respectively.

[0015] Using the bow-stern line of the ship as the N-axis and the line connecting the port and starboard sides of the ship as the E-axis, the coordinates of the first GNSS antenna, the UWB transmitting unit, and the laser transmitter of the docking unmanned vessel are obtained after calibration; the coordinates of the second GNSS antenna, the UWB receiving unit, and the photosensitive target of the unmanned vessel to be docked are also obtained.

[0016] A further improvement of the automatic docking guidance method for unmanned surface vessels (USVs) of the present invention lies in that, while guiding the USV and the USV to be docked to navigate to a predetermined position and complete the initial heading angle alignment, the preset course trajectories of the USV and the USV to be docked are calculated in real time, and the USV and the USV to be docked are controlled to travel along the trajectory to the predetermined position to complete the initial positioning. The distance between the USV and the USV to be docked is adjusted by the following amount:

[0017]

[0018] in: This is the adjustment amount for the N-axis. This is the adjustment amount for the E-axis. To dock the coordinates of the unmanned vessel (11) on the N-axis, To coordinate the docking unmanned vessel (11) on the E-axis, The coordinates of the unmanned vessel (12) to be docked on the N-axis are: The coordinates of the unmanned vessel (12) to be docked are on the E-axis.

[0019] A further improvement of the unmanned vessel automatic docking guidance method of the present invention is that, when the unmanned vessel's heading and left-right deviation are adjusted, the heading angle α1 of the docking unmanned vessel is adjusted to be consistent with the heading angle α2 of the unmanned vessel to be docked, based on the heading angle information output by the inertial navigation system, so as to obtain the adjusted heading angle α.

[0020] A further improvement of the unmanned surface vessel (USV) automatic docking guidance method of the present invention lies in that, during the adjustment of the USV's heading and left-right deviation, the UWB transmitting unit on the docking USV emits a signal, and the UWB receiving unit on the docking USV receives the signal and returns a signal, thereby obtaining the distance information between the UWB transmitting unit and the UWB receiving unit. Based on the relative positional relationship between the UWB transmitting unit and the first inertial navigation system, and the relative positional relationship between the UWB receiving unit and the second inertial navigation system, the distance L between the first inertial navigation system and the second inertial navigation system is obtained. Based on the heading angle and distance information, the left-right deviation between the docking USV and the USV to be docked is calculated. The coordinate deviation calculation formula is as follows:

[0021]

[0022] in, This represents the deviation along the N-axis. This represents the deviation along the E-axis.

[0023] After calculating and adjusting the heading angle, the position of the docking unmanned vessel relative to the unmanned vessel to be docked is as follows:

[0024]

[0025] in, To dock the unmanned vessel's coordinates on the N-axis, To dock the unmanned vessel's coordinates on the E-axis, Let the coordinates of the UWB transmitting unit (3) on the N-axis be: Let the coordinates of the UWB transmitting unit (3) on the E-axis be: The coordinates of the UWB receiving unit (8) on the N-axis are given. Let E be the coordinates of the UWB receiving unit (8) on the E-axis;

[0026] Based on their relative positions, adjust the docking unmanned vessel's position by the following amount:

[0027]

[0028] in, To accommodate the adjustment of the unmanned vessel on the N-axis, The adjustment amount on the E-axis for docking unmanned vessels is given, where M is the vessel length and N is the vessel width.

[0029] A further improvement of the unmanned vessel automatic docking guidance method of the present invention is that, during the navigation fine-tuning of the unmanned vessel, the docking unmanned vessel is also equipped with a first control system, which is connected to a laser emitter. The unmanned vessel to be docked is also equipped with a second control system, which is connected to a photosensitive target. The photosensitive target is equipped with a built-in imaging device. The laser emitted by the laser emitter is incident on the photosensitive target. The built-in imaging device of the photosensitive target takes a picture and processes the light spot image. Real-time image processing is performed to obtain the light spot offset, and then the horizontal offset and vertical offset of the unmanned vessel to be docked are obtained.

[0030] A further improvement of the unmanned vessel automatic docking guidance method of the present invention lies in calculating the lateral and vertical adjustment amounts between the docking unmanned vessel and the unmanned vessel to be docked:

[0031]

[0032] Where, ΔE 12 The left-right adjustment amount ΔZ is the fine-tuning amount between the docking unmanned vessel and the unmanned vessel to be docked. 12 dx represents the vertical adjustment amount for fine-tuning between the docking unmanned surface vessel (USV) and the USV to be docked, dy represents the horizontal offset of the USV to be docked, and dy represents the vertical offset of the USV to be docked. Let E be the coordinates of the laser emitter on the E-axis. The coordinates of the photosensitive target on the E-axis;

[0033] Adjust the left and right positions of the docking unmanned vessel and the vessel's draft, and guide the docking mechanism to the locking mechanism according to the horizontal and vertical offsets to complete the fine-tuning of the unmanned vessel's navigation.

[0034] A further improvement of the unmanned vessel automatic docking guidance method of the present invention is that, during the docking and locking of the unmanned vessel, based on the information of horizontal and vertical offset, it is determined whether the docking mechanism and the locking mechanism are aligned. If not, the docking unmanned vessel is finely adjusted until the docking mechanism and the locking mechanism are aligned; if so, the docking unmanned vessel is controlled to move forward so that the conical guide component of its docking mechanism is inserted into the locking mechanism of the unmanned vessel to be docked and locked.

[0035] The application of the technical solution of the present invention has the following beneficial effects:

[0036] This invention provides an automatic docking guidance method for unmanned surface vessels (USVs). Using GNSS positioning and inertial navigation information, the USV is guided to a predetermined docking area and initially aligned. Then, based on UWB ranging information and offset information from a laser detection device, the USV's pose is dynamically fine-tuned until the docking and locking mechanisms are aligned. This solves the technical problem in existing technologies where USVs cannot achieve precise positioning and docking. This invention is applicable to any sea area and can guide USVs to the target docking area without human assistance.

[0037] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0038] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0039] Figure 1 This is a schematic diagram of the unmanned vessel automatic docking guidance method of the present invention;

[0040] Figure 2 This is a schematic diagram of the heading and left-right deviation adjustment of the unmanned vessel automatic docking guidance method of the present invention;

[0041] Figure 3 This is a schematic diagram of the offset of the laser position monitoring device in the automatic docking guidance method for unmanned vessels of the present invention;

[0042] Among them, 1. First inertial navigation system; 2. First GNSS positioning device; 3. UWB transmitting unit; 4. Laser transmitter; 5. Docking mechanism; 6. Locking mechanism; 7. Photosensitive target; 8. UWB receiving unit; 9. Second GNSS positioning device; 10. Second inertial navigation system; 11. Docking unmanned vessel; 12. Unmanned vessel to be docked. Detailed Implementation

[0043] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0044] See Figures 1-3 As shown, an automatic docking guidance method for unmanned vessels is provided. The docking unmanned vessel 11 is equipped with a first GNSS positioning device 2, a first inertial navigation system 1, a laser transmitter 4, a UWB transmitting unit 3, and a docking mechanism 5. The unmanned vessel 12 to be docked is equipped with a second GNSS positioning device 9, a second inertial navigation system 10, a photosensitive target 7, a UWB receiving unit 8, and a locking mechanism 6.

[0045] The docking guidance method includes the following steps:

[0046] The unmanned surface vessel (USV) performs initial positioning and navigation by acquiring the attitude of the docking USV 11 in real time based on information from the first GNSS positioning device 2 and the first inertial navigation system 1, and the attitude of the USV 12 to be docked in real time based on information from the second GNSS positioning device 2 and the second inertial navigation system 1. It guides the USV 11 and USV 12 to navigate to a predetermined position and complete initial heading angle alignment. The USV adjusts its heading and left / right deviation by using the UWB transmitting unit 3 and the UWB receiving unit 8 to adjust the left / right deviation between the USV 11 and USV 12. The USV performs fine-tuning of its navigation by using the laser emitter 4 and the photosensitive target 7 to fine-tune its attitude until the docking mechanism 5 and the locking mechanism 6 are fully aligned. Finally, the USV docks and locks itself by controlling the USV 11 and USV 12 to approach, dock, and lock.

[0047] Specifically, the docking unmanned vessel 11 is equipped with a first control system, which is connected to the first GNSS positioning device 2, the first inertial navigation system 1, the laser transmitter 4, the UWB transmitting unit 3, and the docking mechanism 5. The unmanned vessel 12 to be docked is equipped with a second control system, which is connected to the second GNSS positioning device 9, the second inertial navigation system 10, the photosensitive target 7, the UWB receiving unit 8, and the locking mechanism 6. The docking mechanism 5 is a conical guiding component, and the laser transmitter 4 and the photosensitive target 7 constitute a laser position detection device.

[0048] This invention combines a GNSS system with inertial navigation technology for initial positioning and navigation of an unmanned surface vessel (USV). It can acquire the USV's position and attitude in real time, and the inertial navigation is autonomous, unaffected by external environmental and electromagnetic interference. Simultaneously, it combines UWB ranging technology with laser position detection technology to achieve close-range navigation and docking of the USV. The USV is equipped with a positioning and navigation device and a control system, allowing it to autonomously navigate to the target area directly based on positioning system information, eliminating the need to send motion status information to shore-based analysis and then back to the USV, thus saving time. The GNSS positioning system on the USV, combined with the inertial navigation system, accurately obtains the USV's absolute position and attitude, applicable to any sea area, and can navigate the USV to the docking target area without human assistance.

[0049] The specific steps of the docking guidance method are as follows:

[0050] (1) Deployment of unmanned surface vessel (USV) positioning, docking, and locking devices. A first GNSS positioning device 2 and a first inertial navigation system 1 are installed on the docking USV 11. A UWB transmitting unit 3, a laser transmitter 4, and a docking mechanism 5 are deployed at the bow of the docking USV 11. A second GNSS positioning device 9 and a second inertial navigation system 10 are installed on the USV 12 to be docked. A locking mechanism 6, a photosensitive target 7, and a UWB receiving unit 8 are deployed at the stern of the USV 12 to be docked.

[0051] (2) Initial position calibration steps for unmanned surface vessel:

[0052] Before the docking unmanned vessel 11 and the unmanned vessel 12 to be docked are launched, the position coordinates of the first GNSS antenna of the docking unmanned vessel 11 are obtained according to the first GNSS positioning device 2, and then the relative positional relationships between the first inertial navigation system 1, UWB transmitting unit 3, docking mechanism 5, laser transmitter 4, first GNSS antenna and the center of the vessel are measured respectively.

[0053] The position coordinates of the second GNSS antenna of the unmanned vessel 12 to be docked are obtained based on the second GNSS positioning device 9. Then, the relative positional relationships between the second inertial navigation system 10, UWB receiving unit 8, locking mechanism 6, photosensitive target 7, second GNSS antenna and the center of the vessel are measured respectively.

[0054] The initial coordinates of each device in the hull are determined, and their initial positions are also determined based on the initial coordinates of the inertial navigation system. Using the bow-stern line of the ship as the N-axis and the line connecting the port and starboard sides of the ship as the E-axis, the coordinates of the first GNSS antenna, the UWB transmitting unit 3, and the laser transmitter 4 of the docking unmanned vessel 11 are obtained after calibration; and the coordinates of the second GNSS antenna, the UWB receiving unit 8, and the photosensitive target 7 of the unmanned vessel 12 to be docked are obtained.

[0055] (3) Initial positioning and navigation of the unmanned vessel:

[0056] The predetermined docking position coordinates are input into the docking unmanned vessel 11 and the unmanned vessel 12 to be docked. The position and attitude of the docking unmanned vessel 11 are obtained in real time according to the first GNSS positioning device 2 and the first inertial navigation system 1, and the position and attitude of the unmanned vessel 12 to be docked are obtained in real time according to the second GNSS positioning device 9 and the second inertial navigation system 10.

[0057] The system calculates the preset trajectories of the docking unmanned surface vessel 11 and the unmanned surface vessel 12 to be docked in real time, and adjusts the azimuth propellers of both vessels to ensure they travel along the trajectories to the predetermined positions for initial positioning. The distance between the docking and docking unmanned surface vessels 11 and 12 is maintained at no less than three times their length to facilitate further adjustments. The distance between the docking and docking unmanned surface vessels 11 and 12 is adjusted by the following amount:

[0058]

[0059] in: This is the adjustment amount for the N-axis. This is the adjustment amount for the E-axis. To dock the coordinates of the unmanned vessel (11) on the N-axis, To coordinate the docking unmanned vessel (11) on the E-axis, The coordinates of the unmanned vessel (12) to be docked on the N-axis are: Let be the coordinates of the unmanned vessel (12) to be docked on the E-axis. That is, the coordinates of the unmanned vessel 11 to be docked are... The coordinates of the unmanned vessel 12 to be docked are

[0060] (4) Adjusting the unmanned vessel's heading and left-right deviation: Step (3) allows the docking unmanned vessel 11 and the unmanned vessel 12 to be docked to be kept within a small area, facilitating further docking. The heading angle information is output by the inertial navigation system, such as... Figure 2 As shown, the heading angle α1 of the docking unmanned vessel 11 is adjusted to be consistent with the heading angle α2 of the unmanned vessel 12 to be docked, and the adjusted heading angle α is obtained.

[0061] When adjusting the heading and left-right deviation of the unmanned surface vessel (USV), the UWB transmitting unit 3 on the docking USV 11 emits a signal, which is an electromagnetic pulse signal. After receiving the signal, the UWB receiving unit 8 on the docking USV 12 returns a signal, obtaining the distance information between the UWB transmitting unit 3 and the UWB receiving unit 8. Based on the relative positional relationship between the UWB transmitting unit 3 and the first inertial navigation system 1, and the relative positional relationship between the UWB receiving unit 8 and the second inertial navigation system 10, the distance L between the first inertial navigation system 1 and the second inertial navigation system 10 is obtained. Based on the heading angle and distance information, the left-right deviation between the docking USV 11 and the USV 12 is calculated. The coordinate deviation calculation formula is as follows:

[0062]

[0063] in, This represents the deviation along the N-axis. This represents the deviation along the E-axis.

[0064] After adjusting the heading angle, calculate the position of the docking unmanned vessel 11 relative to the unmanned vessel 12 to be docked:

[0065]

[0066] in, To coordinate the docking unmanned vessel 11 on the N-axis, To coordinate the docking unmanned vessel 11 on the E-axis, Let the coordinates of the UWB transmitting unit (3) on the N-axis be: Let the coordinates of the UWB transmitting unit (3) on the E-axis be: The coordinates of the UWB receiving unit (8) on the N-axis are given. Let be the coordinates of the UWB receiving unit (8) on the E-axis. That is, the coordinates of the UWB transmitting unit 3 are... The coordinates of UWB receiver unit 8 are

[0067] Based on their relative positions, adjust the position of docking unmanned vessel 11 by the following amount:

[0068]

[0069] in, To accommodate the adjustment of the unmanned vessel 11 on the N-axis, The adjustment amount on the E-axis for docking unmanned vessel 11 is given, where M is the vessel length and N is the vessel width.

[0070] (5) Fine-tuning of unmanned vessel navigation: This step involves fine-tuning the close-range relationship between the docking unmanned vessel 11 and the unmanned vessel 12 to be docked. The docking unmanned vessel 11 is also equipped with a first control system, which is connected to the laser emitter 4. The unmanned vessel 12 to be docked is also equipped with a second control system, which is connected to the photosensitive target 7. The photosensitive target 7 is equipped with a built-in imaging device. The laser emitted by the laser emitter 4 is incident on the photosensitive target 7. The built-in imaging device of the photosensitive target 7 takes pictures and processes the light spot image. Real-time image processing is performed to obtain the light spot offset, and then the horizontal and vertical offsets of the unmanned vessel 12 to be docked are obtained.

[0071] like Figure 3 As shown, the left-right and vertical adjustments between the docking unmanned vessel 11 and the unmanned vessel 12 to be docked are calculated:

[0072]

[0073] Where, ΔE 12 The left-right adjustment amount ΔZ is the amount of fine-tuning between the docking unmanned vessel 11 and the unmanned vessel 12 to be docked. 12dx represents the vertical adjustment amount for fine-tuning between the docking unmanned vessel 11 and the unmanned vessel 12 to be docked, and dy represents the horizontal offset of the unmanned vessel 12 to be docked. Let be the coordinates of laser emitter 4 on the E-axis. The coordinates of the photosensitive target 7 on the E-axis;

[0074] Adjust the position of the docking unmanned vessel 11 to the left and right, and adjust the vessel's draft. Guide the docking mechanism 5 to the locking mechanism 6 according to the horizontal and vertical offset to complete the navigation fine-tuning of the unmanned vessel.

[0075] (6) Docking and locking of unmanned vessels: Based on the information of horizontal and vertical offset, it is determined whether the docking mechanism 5 and the locking mechanism 6 are aligned. If not, the docking unmanned vessel 11 is finely adjusted according to the real-time fusion information until the docking mechanism 5 and the locking mechanism 6 are aligned. If so, the docking unmanned vessel 11 moves forward slightly so that the conical guide component of its docking mechanism 5 is inserted into the locking mechanism 6 of the unmanned vessel 12 to be docked and locked.

[0076] (7) The locking mechanism 6 is equipped with a proximity switch and a drive motor, which are connected to the second control system. During docking and locking of the unmanned vessels, if the two unmanned vessels fail to dock due to extreme sea conditions, the unmanned vessels are controlled to retreat, and step (6) is repeated until the docking and locking are in place. Finally, the proximity switch at the bottom of the locking mechanism 6 feeds back a signal indicating the locking status, which activates the drive motor on the fixing component of the locking mechanism 6 to apply force and secure the connection of the mechanism.

[0077] This invention deploys GNSS positioning devices, an inertial navigation system, a UWB ranging device, and a laser position detection device at various locations on the unmanned surface vessel (USV), enabling it to obtain the USV's accurate position. Using GNSS positioning and inertial navigation information, the USV is navigated to a predetermined docking area and initially aligned. Then, based on UWB ranging information and offset information from the laser detection device, the USV's pose is dynamically fine-tuned until the docking mechanism 5 aligns with the locking mechanism 6, achieving automatic docking. The docking mechanism 5 employs a conical guiding component, which automatically compensates for random motion errors of the USV during the docking process.

[0078] This invention provides an automatic docking guidance method for unmanned surface vessels (USVs). Using GNSS positioning and inertial navigation information, the USV is guided to a predetermined docking area and initially aligned. Then, based on UWB ranging information and offset information from a laser detection device, the USV's pose is dynamically fine-tuned until the docking mechanism 5 and locking mechanism 6 are aligned. This solves the technical problem in existing technologies where USVs cannot achieve precise positioning and docking. This invention is applicable to any sea area and can guide USVs to the target docking area without human assistance.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An unmanned ship automatic docking guidance method, characterized by, The docking unmanned ship (11) is provided with a first GNSS positioning device (2), a first inertial navigation system (1), a laser emitter (4), a UWB emitting unit (3) and a docking mechanism (5), and the unmanned ship to be docked (12) is provided with a second GNSS positioning device (9), a second inertial navigation system (10), a photosensitive target (7), a UWB receiving unit (8) and a locking mechanism (6); The docking guidance method comprises the following steps: Unmanned ship preliminary positioning navigation, according to the information of the first GNSS positioning device (2) and the first inertial navigation system (1), the pose of the docking unmanned ship (11) is obtained in real time, and according to the information of the second GNSS positioning device (9) and the second inertial navigation system (10), the pose of the unmanned ship to be docked (12) is obtained in real time; guiding the docking unmanned ship (11) and the unmanned ship to be docked (12) to sail to the predetermined position and complete the preliminary heading angle alignment; Unmanned ship heading and left-right deviation adjustment, the left-right deviation between the docking unmanned ship (11) and the unmanned ship to be docked (12) is adjusted by using the UWB emitting unit (3) and the UWB receiving unit (8); Unmanned ship navigation fine adjustment, the fine pose is realized through the laser emitter (4) and the photosensitive target (7), and the docking mechanism (5) and the locking mechanism (6) are completely aligned; Unmanned ship docking and locking, the docking unmanned ship (11) and the unmanned ship to be docked (12) are controlled to approach and dock and lock.

2. The unmanned ship automatic docking guidance method of claim 1, wherein, Before the unmanned ship preliminary positioning navigation, the unmanned ship initial position calibration step is performed: According to the first GNSS positioning device (2), the first GNSS antenna position coordinates of the docking unmanned ship (11) are obtained, and then the relative position relationships between the first inertial navigation system (1), the UWB emitting unit (3), the docking mechanism (5), the laser emitter (4) and the first GNSS antenna and the center of the ship of the docking unmanned ship (11) are measured respectively; According to the second GNSS positioning device (9), the second GNSS antenna position coordinates of the unmanned ship to be docked (12) are obtained, and then the relative position relationships between the second inertial navigation system (10), the UWB receiving unit (8), the locking mechanism (6), the photosensitive target (7) and the second GNSS antenna and the center of the ship of the unmanned ship to be docked (12) are measured respectively; Taking the bow-stern line of the ship as the N axis and the left-right line of the ship as the E axis, the coordinates of the first GNSS antenna, the coordinates of the UWB emitting unit (3) and the coordinates of the laser emitter (4) of the docking unmanned ship (11) are obtained after calibration; the coordinates of the second GNSS antenna, the coordinates of the UWB receiving unit (8) and the coordinates of the photosensitive target (7) of the unmanned ship to be docked (12) are obtained.

3. The unmanned ship automatic docking guidance method of claim 2, wherein, When guiding the docking unmanned ship (11) and the unmanned ship to be docked (12) to sail to the predetermined position and complete the preliminary heading angle alignment, the preset track of the docking unmanned ship (11) and the unmanned ship to be docked (12) is calculated in real time, the docking unmanned ship (11) and the unmanned ship to be docked (12) are controlled to travel to the predetermined position according to the track to complete the preliminary positioning, and the distance between the docking unmanned ship (11) and the unmanned ship to be docked (12) is adjusted, and the adjustment amount is: wherein: is the adjustment amount for the N-axis, is the adjustment amount for the E-axis, is the coordinate of the docking unmanned ship (11) on the N-axis, is the coordinate of the docking unmanned ship (11) on the E-axis, is the coordinate of the to-be-docked unmanned ship (12) on the N-axis, is the coordinate of the to-be-docked unmanned ship (12) on the E-axis.

4. The unmanned ship automatic docking guidance method of claim 1, wherein, In the course of adjusting the heading and lateral deviation of the unmanned ship, the heading angle information output by the inertial navigation system is used to adjust the heading angle of the docking unmanned ship (11) and the heading angle of the unmanned ship to be docked (12) to be consistent, so as to obtain the adjusted heading angle a.

5. The unmanned ship automatic docking guidance method of claim 4, wherein, In the course of adjusting the heading and lateral deviation of the unmanned ship, the UWB transmitting unit (3) on the docking unmanned ship (11) sends a signal, and the UWB receiving unit (8) on the unmanned ship to be docked (12) returns a signal after receiving the signal, so as to obtain the distance information between the UWB transmitting unit (3) and the UWB receiving unit (8). According to the relative position relationship between the UWB transmitting unit (3) and the first inertial navigation system (1) and the relative position relationship between the UWB receiving unit (8) and the second inertial navigation system (10), the distance L between the first inertial navigation system (1) and the second inertial navigation system (10) is obtained. According to the heading angle and the distance information, the lateral deviation between the docking unmanned ship (11) and the unmanned ship to be docked (12) is calculated, and the coordinate deviation calculation formula is as follows: wherein is the amount of deviation in the N-axis, is the amount of deviation in the E-axis; The position of the docking unmanned ship (11) relative to the unmanned ship to be docked (12) after adjusting the heading angle is calculated as follows: wherein, is the coordinate of the docking unmanned ship (11) in the N-axis, is the coordinate of the docking unmanned ship (11) in the E-axis, is the coordinate of the UWB transmitting unit (3) in the N-axis, is the coordinate of the UWB transmitting unit (3) in the E-axis, is the coordinate of the UWB receiving unit (8) in the N-axis, is the coordinate of the UWB receiving unit (8) in the E-axis; According to the relative position relationship, the position of the docking unmanned ship (11) is adjusted, and the adjustment amount is: wherein, is the adjustment amount of the docking unmanned ship (11) in the N-axis, is the adjustment amount of the docking unmanned ship (11) in the E-axis, M is the ship length, and N is the ship width.

6. The unmanned ship automatic docking guidance method of claim 1, wherein, In the course of fine adjustment of the navigation of the unmanned ship, the first control system is further provided on the docking unmanned ship (11), and the second control system is further provided on the unmanned ship to be docked (12). The first control system is connected with the laser emitter (4), and the second control system is connected with the photosensitive target (7). The photosensitive target (7) is provided with a built-in shooting device. The laser emitted by the laser emitter (4) is incident on the photosensitive target (7), and the built-in shooting device of the photosensitive target (7) takes a photo of the light spot image for real-time image processing to obtain the light spot deviation, and then obtain the horizontal deviation and the vertical deviation of the unmanned ship to be docked (12).

7. The unmanned ship automatic docking guidance method of claim 6, wherein, The left and right adjustment amount and the vertical adjustment amount of the fine adjustment between the docking unmanned ship (11) and the unmanned ship to be docked (12) are calculated as follows: wherein, ΔE 12 is the left-right adjustment amount for fine adjustment between the docking unmanned ship (11) and the unmanned ship (12) to be docked, ΔZ 12 is the vertical adjustment amount for fine adjustment between the docking unmanned ship (11) and the unmanned ship (12) to be docked, dx is the horizontal offset amount of the unmanned ship (12) to be docked, dy is the vertical offset amount of the unmanned ship (12) to be docked, is the coordinate of the laser emitter (4) on the E axis, is the coordinate of the photosensitive target (7) on the E axis; The left and right positions of the docking unmanned ship (11) are adjusted, and the water depth of the ship is adjusted. According to the horizontal and vertical deviations, the docking mechanism (5) is guided to the locking mechanism (6), and the fine adjustment of the navigation of the unmanned ship is completed.

8. The unmanned ship automatic docking guidance method of claim 7, wherein, In the course of docking and locking of the unmanned ship, based on the information of the horizontal deviation and the vertical deviation, it is judged whether the docking mechanism (5) and the locking mechanism (6) are aligned. If not, the docking unmanned ship (11) is fine adjusted until the docking mechanism (5) and the locking mechanism (6) are aligned. If yes, the docking unmanned ship (11) is controlled to move forward, so that the conical guide part of the docking mechanism (5) is inserted into the locking mechanism (6) of the unmanned ship to be docked (12), and is locked.

Images