A method and device for high-precision assisted berthing of ships based on RTK and vision fusion

Abstract

This application belongs to the field of ship control technology, specifically disclosing a high-precision assisted berthing method and device based on RTK and vision fusion. The method includes: acquiring real-time position information, attitude information, and visual image information between the target ship and the berth; wherein the real-time position information and attitude information of the target ship are acquired through a multi-carrier differential BeiDou device; processing the real-time position information, attitude information, and visual image information between the target ship and the berth; fusing the processed real-time position information, attitude information, and visual image information between the target ship and the berth to obtain fused information; and assisting the target ship to berth at the berth based on the fused information. This method can improve the safety and efficiency of berthing operations.

Description

Technical Field

[0001] This application belongs to the field of ship control technology, and more specifically, relates to a high-precision assisted berthing method and device for ships based on real-time dynamic carrier phase differential (RTK) and vision fusion. Background Technology

[0002] Traditionally, passenger roll-on / roll-off (Ro-Ro) ships berth using a vertical stern berthing method, relying on anchors and cables. This method has many problems, such as a large wind-exposed hull area, irregular cargo, and susceptibility to wind and waves during berthing, leading to difficult berthing operations and a high risk of collisions. Currently, berthing mainly relies on manual lookout, but this still suffers from blind spots and poor communication, resulting in low berthing efficiency and high risk.

[0003] Other ship berthing methods include Cavotec's MoorMaster NxG system, which uses vacuum adsorption technology to replace traditional cables, enabling rapid berthing operations, reducing ship movement, and significantly lowering accident risks. Some docks utilize drones equipped with ranging devices to monitor the distance between the ship and the dock in real time from multiple angles, providing more comprehensive visual assistance. Other methods use 360° panoramic cameras to provide a blind-spot-free view of the ship's surroundings, enhancing crew situational awareness and improving berthing safety. However, these methods primarily rely on visual recognition or mechanical modifications and cannot solve the accuracy problem during berthing (visual recognition ranging accuracy is generally meter-level, with a maximum accuracy of about 5% of the ship's width; for passenger / roll-on / roll-off ships with a width of about 20 meters, the ranging accuracy is about 1 meter). They cannot directly guide crew members to achieve precise berthing through video observation. Meanwhile, some systems attempt to use single sensors (such as lidar or visual recognition) to assist berthing and improve the accuracy of berthing distance calculations, but due to high equipment costs, susceptibility to environmental influences, and large ranging errors, their practical application results remain unsatisfactory, and safety is low. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this application is to provide a high-precision assisted berthing method and device for ships based on RTK and vision fusion, aiming to solve the problem of low ship berthing safety caused by low ranging accuracy in existing ship berthing methods.

[0005] To achieve the above objectives, in a first aspect, this application provides a high-precision assisted berthing method for ships based on RTK and vision fusion, comprising: The system acquires the real-time position information, attitude information, and visual image information between the target vessel and the berth. The real-time position information and attitude information of the target vessel are acquired through a multi-carrier differential BeiDou device. Data processing is performed on the real-time position information, attitude information, and visual image information between the target vessel and the berth; The real-time position information, attitude information, and visual image information between the target vessel and the berth are fused after data processing to obtain fused information; Based on the fused information, the target vessel is assisted in docking at the berth.

[0006] This application processes and fuses the detailed real-time position, attitude, and visual image information of ships acquired by multi-carrier differential BeiDou equipment. When the data quality of one type of sensor is poor, it can rely on another type of sensor for supplementation and correction. This effectively solves the problems of susceptibility to environmental influences and large ranging errors caused by the failure or unavailability of a single sensor or data. It improves the spatial perception ranging accuracy of ships during berthing from the meter level to the centimeter level, thereby enhancing ranging accuracy. Based on the fused information, it assists target ships in berthing, significantly reducing the difficulty of ship handling and the risk of human misjudgment in complex environments. This improves the safety and efficiency of berthing operations. Moreover, it does not rely on the infrastructure modification of a specific wharf and can be applied to wharves with different layouts and shapes, demonstrating good generalization ability.

[0007] According to the high-precision assisted berthing method for ships based on RTK and vision fusion provided in this application, the data processing of the real-time position information, attitude information of the target ship, and visual image information between the target ship and the berth includes: The real-time position information, attitude information, and visual image information between the target vessel and the berth are synchronized in time. The real-time position and attitude information of the target vessel in the geographic coordinate system are converted into the local coordinate system.

[0008] This application performs time synchronization and coordinate system alignment on RTK information and visual image information acquired by multi-carrier differential BeiDou equipment to facilitate subsequent fusion.

[0009] According to the high-precision assisted berthing method for ships based on RTK and vision fusion provided in this application, the method involves fusing the real-time position information, attitude information, and visual image information between the target ship and the berth after data processing to obtain fused information, including: Based on the real-time position and attitude information of the target vessel after data processing, the visual image information between the target vessel and the berth is corrected by Kalman filtering to obtain the fused information.

[0010] This application uses RTK data to correct and optimally estimate visual image information through Kalman filtering, effectively addressing the problem of single sensors being susceptible to environmental influences and potential failures, thereby improving the reliability and environmental adaptability of the entire auxiliary system.

[0011] According to the high-precision assisted berthing method for ships based on RTK and vision fusion provided in this application, the step of assisting the target ship to berth at the berth based on the fused information includes: The fused information is integrated into the cockpit display terminal to generate an auxiliary berthing image containing the relative position, distance, and angle of the target vessel and the berth; Based on the assisted berthing image, the ship's navigator is assisted in berthing the target vessel at the berth.

[0012] This application generates auxiliary berthing images based on fused high-precision information, integrating 360-degree panoramic images, accurate distance / angle data, and trajectory prediction for the driver. This intuitive augmented reality interface significantly reduces the difficulty of ship handling and the risk of human misjudgment in complex environments (such as when affected by wind and waves or when there are blind spots), thereby improving the safety and efficiency of berthing operations.

[0013] Secondly, this application provides a high-precision auxiliary berthing device for ships based on RTK and vision fusion, comprising: The acquisition module is used to acquire the real-time position information, attitude information, and visual image information between the target vessel and the berth. The real-time position information and attitude information of the target vessel are acquired through a multi-carrier differential Beidou device. The data processing module is used to process the real-time position information, attitude information and visual image information between the target vessel and the berth. The fusion module is used to fuse the real-time position information, attitude information and visual image information between the target vessel and the berth after data processing to obtain fused information; An auxiliary module is used to assist the target vessel in docking at the berth based on the fused information.

[0014] Thirdly, this application provides an electronic device, comprising: at least one memory for storing a program; and at least one processor for executing the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the high-precision assisted berthing method for ships based on RTK and vision fusion described in the first aspect or any possible implementation of the first aspect.

[0015] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, causes the processor to execute the RTK-based and vision-fusion-based high-precision assisted berthing method for ships described in the first aspect or any possible implementation of the first aspect.

[0016] Fifthly, this application provides a computer program product that, when run on a processor, causes the processor to execute the RTK-based and vision-fusion-based high-precision assisted berthing method for ships described in the first aspect or any possible implementation of the first aspect.

[0017] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0018] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art: This application processes and fuses the detailed real-time position, attitude, and visual image information of ships acquired by multi-carrier differential BeiDou equipment. When the data quality of one type of sensor is poor, it can rely on another type of sensor for supplementation and correction. This effectively solves the problems of susceptibility to environmental influences and large ranging errors caused by the failure or unavailability of a single sensor or data. It improves the spatial perception ranging accuracy of ships during berthing from the meter level to the centimeter level, thereby enhancing ranging accuracy. Based on the fused information, it assists target ships in berthing, significantly reducing the difficulty of ship handling and the risk of human misjudgment in complex environments. This improves the safety and efficiency of berthing operations. Moreover, it does not rely on the infrastructure modification of a specific wharf and can be applied to wharves with different layouts and shapes, demonstrating good generalization ability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is one of the flowcharts of the high-precision assisted berthing method for ships based on RTK and vision fusion provided in the embodiments of this application; Figure 2 This is the second flowchart of the high-precision assisted berthing method for ships based on RTK and vision fusion provided in the embodiments of this application; Figure 3This is a schematic diagram of the structure of the high-precision auxiliary berthing device for ships based on RTK and vision fusion provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] In this article, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The symbol " / " in this article indicates that the related objects are in an "or" relationship; for example, A / B means A or B.

[0023] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0024] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processing units means two or more processing units, multiple elements means two or more elements, etc.

[0025] Next, combined Figures 1-2 This paper introduces a high-precision assisted berthing method for ships based on RTK and vision fusion provided in the embodiments of this application.

[0026] Figure 1 This is one of the flowcharts illustrating the high-precision assisted berthing method for ships based on RTK and vision fusion provided in this application embodiment, such as... Figure 1 As shown, the method includes the following steps: Step S1: Obtain the real-time position information, attitude information, and visual image information between the target vessel and the berth. The real-time position information and attitude information of the target vessel are obtained through a multi-carrier differential Beidou device. Optionally, the target vessel is equipped with a multi-carrier differential BeiDou receiver, which can receive and process carrier signals of multiple frequencies transmitted by BeiDou satellites. By utilizing BeiDou multi-frequency satellite signals and differential correction technology from ground reference stations, it can provide the vessel with centimeter-level position and attitude data in real time.

[0027] Figure 2 This is the second flowchart illustrating the high-precision assisted berthing method for ships based on RTK and vision fusion provided in this application embodiment. Figure 2 As shown, multi-carrier differential BeiDou receiving equipment (i.e.) can be used. Figure 2 The RTK device in the middle obtains the real-time position and attitude information of the target ship.

[0028] Optionally, the location information may include data such as the longitude, latitude, and altitude of the target vessel.

[0029] Optionally, attitude information may include data such as the target vessel's heading angle, pitch angle, and roll angle.

[0030] In one embodiment of this application, it is assumed that the multi-carrier differential BeiDou receiver installed on the ship is reference point O. B Then its high-precision geographic coordinates at a certain time t are:

[0031] Where, x B y B Represents two-dimensional planar coordinates, z B The data update frequency is consistent with the frequency of differential BeiDou equipment, based on altitude.

[0032] Simultaneously, output the ship's attitude angle information:

[0033] in, For heading angle, The pitch angle, This refers to the roll angle.

[0034] like Figure 2 As shown, visual image information between the target vessel and the berth can be collected by image acquisition devices, such as cameras, deployed at the edge of the target vessel.

[0035] In one embodiment of this application, it is assumed that the i-th camera is located at a position on the ship as follows: The image also captured images of berth markers (such as berth edges and berth bollards), and extracted pixel coordinates using image recognition algorithms. Then, it is transformed into a 3D spatial point in the camera coordinate system, as follows:

[0036] in, For the camera intrinsic parameter matrix, It is the depth value of the object from the camera, obtained through parallax estimation or a deep learning model. These are the coordinates of the target in the local coordinate system of the camera.

[0037] Optionally, visual image analysis technology can be used to calculate the relative distance and angle information between the ship and the berth.

[0038] In one embodiment of this application, the camera's mounting orientation on the ship is considered. and Convert it to coordinates in the ship's body coordinate system. :

[0039] This allows us to obtain the relative distance data between the camera and the berth in the ship's coordinate system. (Assume there are a total of n cameras deployed on the ship):

[0040] Among them, f i These are the coordinates of the corresponding berth feature points (obtained through visual recognition).

[0041] Step S2 involves data processing of the target vessel's real-time position information, attitude information, and visual image information between the target vessel and the berth. Since RTK data and video data come from different systems, in order to perform data fusion, it is necessary to process the collected RTK data, namely the real-time position and attitude information of the target vessel, as well as the visual image information between the target vessel and the berth.

[0042] Step S3: The real-time position information, attitude information and visual image information between the target vessel and the berth are fused after data processing to obtain fused information; The purpose of fusion is to use high-precision geographic coordinate data obtained by multi-carrier differential BeiDou equipment to correct the relative distance data generated by analyzing visual image information, so as to obtain fused high-precision berthing distance information.

[0043] Step S4: Based on the fused information, assist the target vessel in docking at the berth.

[0044] Optionally, the fused high-precision berthing distance information can be used to assist ship operators in berthing the target vessel at the berth, reducing the difficulty of ship handling and the risk of human error in complex environments (such as when affected by wind and waves or when there are blind spots), thereby improving the safety and efficiency of berthing operations.

[0045] The high-precision assisted berthing method for ships based on RTK and vision fusion provided in this application processes and fuses the fine real-time position information, attitude information, and visual image information of ships acquired by multi-carrier differential Beidou equipment. When the data quality of one type of sensor is poor, it can rely on another type of sensor for supplementation and correction, effectively solving the problems of susceptibility to environmental influences and large ranging errors caused by the failure or unavailability of a single sensor. It improves the spatial perception ranging accuracy of ships during the berthing stage from the meter level to the centimeter level, thereby improving ranging accuracy. Based on the fused information, it assists the target ship to berth, significantly reducing the difficulty of ship handling and the risk of human misjudgment in complex environments, thus improving the safety and efficiency of berthing operations. Moreover, it does not rely on the infrastructure modification of a specific wharf and can be applied to wharves with different layouts and shapes, showing good generalization ability.

[0046] In some embodiments, step S2 specifically includes: Step S21: Time synchronization of the real-time position information, attitude information of the target vessel, and visual image information between the target vessel and the berth; Step S22: Convert the real-time position and attitude information of the target vessel in the geographic coordinate system into the local coordinate system.

[0047] like Figure 2 As shown in one embodiment of this application, since RTK data and video data come from different systems, there are issues of time asynchrony and coordinate system differences, which require the following processing: 1a. Time synchronization: Timestamp each frame of video image and interpolate it with RTK data to ensure that the two are on the same time base; 2a. Coordinate unification: Convert RTK data from the WGS-84 geographic coordinate system to the ENU (East-North-Sky) local coordinate system to maintain consistency with visual ranging data.

[0048] In some embodiments, step S3 specifically includes: Based on the real-time position and attitude information of the target vessel after data processing, the visual image information between the target vessel and the berth is corrected by Kalman filtering to obtain fused information.

[0049] Specifically, the state vector is defined as follows: It includes not only the ship's position in the ENU coordinate system ( ), and also includes its speed ( (This is used to more accurately predict ship movement.)

[0050] Define the observation vector as: It consists of two parts: the position directly measured by RTK. And the set of relative distances to the dock markers calculated by all cameras [ ].

[0051] State estimation is performed using an extended Kalman filter (EKF): 1b. In the prediction phase, based on the state and motion model of the previous moment, predict the ship's current position and speed, using the following formula:

[0052] 2b. In the update phase, the predicted values ​​are... The transfer function maps the data to "predicted observations" (i.e., predicted RTK position and predicted visual distance); then this "predicted observation" is compared with the actual observations read by the sensors. By comparing, differences are revealed:

[0053]

[0054] Where f(•) and h(•) are the state transition function and the migration function, respectively. For Kalman gain, To observe the noise covariance, For state covariance, for, for.

[0055] After data fusion processing, the estimated position and pose values ​​are:

[0056] In some embodiments, step S4 specifically includes: Step S41: Integrate the fused information into the cockpit display terminal to generate an auxiliary berthing image containing the relative position, distance, and angle of the target vessel and the berth; Step S42: Based on the assisted berthing image, assist the ship's driver in berthing the target ship at the berth.

[0057] Optionally, the fused ship position and attitude information can be overlaid onto the video footage to generate visual elements, which can then be output to the cockpit display screen to form an intuitive berthing assistance image interface.

[0058] Optionally, the main information displayed may include: 360° panoramic image of the ship, relative distance between the ship and the berth, angle indication of the heading and the berth direction, berthing trajectory prediction data, and deviation / collision warning prompts.

[0059] The high-precision auxiliary berthing device for ships based on RTK and vision fusion provided in this application is described below. The high-precision auxiliary berthing device for ships based on RTK and vision fusion described below can be referred to in correspondence with the high-precision auxiliary berthing method for ships based on RTK and vision fusion described above.

[0060] Figure 3 This is a schematic diagram of a high-precision auxiliary berthing device for ships based on RTK and vision fusion, provided in an embodiment of this application. Figure 3 As shown, the device 300 includes: The acquisition module 310 is used to acquire the real-time position information, attitude information and visual image information between the target vessel and the berth. The real-time position information and attitude information of the target vessel are acquired through a multi-carrier differential Beidou device. The data processing module 320 is used to process the real-time position information, attitude information and visual image information between the target vessel and the berth. The fusion module 330 is used to fuse the real-time position information, attitude information and visual image information between the target vessel and the berth after data processing to obtain fused information; The auxiliary module 340 is used to assist the target vessel in docking at the berth based on fused information.

[0061] It should be understood that the above-described device is used to execute the methods in the above embodiments. The implementation principle and technical effect of the corresponding program modules in the device are similar to those described in the above methods. The working process of the device can be referred to the corresponding process in the above methods, and will not be repeated here.

[0062] Based on the methods in the above embodiments, Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown in the illustration, this application provides an electronic device that may include a processor 410, a communication interface 420, a memory 430, and a communication bus 440. The processor 410, communication interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions stored in the memory 430 to execute the high-precision assisted berthing method for ships based on RTK and vision fusion described in the above embodiment.

[0063] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the high-precision assisted berthing method for ships based on RTK and vision fusion described in the various embodiments of this application.

[0064] Based on the methods in the above embodiments, this application provides a computer-readable storage medium storing a computer program. When the computer program runs on a processor, it causes the processor to execute the high-precision assisted berthing method for ships based on RTK and vision fusion in the above embodiments.

[0065] Based on the methods in the above embodiments, this application provides a computer program product that, when run on a processor, causes the processor to execute the high-precision assisted berthing method for ships based on RTK and vision fusion in the above embodiments.

[0066] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0067] The method steps in this application embodiment can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.

[0068] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0069] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0070] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A high-precision assisted berthing method for ships based on RTK and vision fusion, characterized in that, include: The system acquires the real-time position information, attitude information, and visual image information between the target vessel and the berth. The real-time position information and attitude information of the target vessel are acquired through a multi-carrier differential BeiDou device. Data processing is performed on the real-time position information, attitude information, and visual image information between the target vessel and the berth; The real-time position information, attitude information, and visual image information between the target vessel and the berth are fused after data processing to obtain fused information; Based on the fused information, the target vessel is assisted in docking at the berth.

2. The high-precision assisted berthing method for ships based on RTK and vision fusion according to claim 1, characterized in that, The data processing of the real-time position information, attitude information, and visual image information between the target vessel and the berth includes: The real-time position information, attitude information, and visual image information between the target vessel and the berth are synchronized in time. The real-time position and attitude information of the target vessel in the geographic coordinate system are converted into the local coordinate system.

3. The high-precision assisted berthing method for ships based on RTK and vision fusion according to claim 1, characterized in that, The process of fusing the real-time position information, attitude information, and visual image information between the target vessel and the berth after data processing to obtain fused information includes: Based on the real-time position and attitude information of the target vessel after data processing, the visual image information between the target vessel and the berth is corrected by Kalman filtering to obtain the fused information.

4. The high-precision assisted berthing method for ships based on RTK and vision fusion according to claim 1, characterized in that, The step of assisting the target vessel to berth at the berth based on the fused information includes: The fused information is integrated into the cockpit display terminal to generate an auxiliary berthing image containing the relative position, distance, and angle of the target vessel and the berth; Based on the assisted berthing image, the ship's navigator is assisted in berthing the target vessel at the berth.

5. A high-precision auxiliary berthing device for ships based on RTK and vision fusion, characterized in that, include: The acquisition module is used to acquire the real-time position information, attitude information, and visual image information between the target vessel and the berth. The real-time position information and attitude information of the target vessel are acquired through a multi-carrier differential Beidou device. The data processing module is used to process the real-time position information, attitude information and visual image information between the target vessel and the berth. The fusion module is used to fuse the real-time position information, attitude information and visual image information between the target vessel and the berth after data processing to obtain fused information; An auxiliary module is used to assist the target vessel in docking at the berth based on the fused information.

6. An electronic device, characterized in that, include: At least one memory for storing computer programs; At least one processor is configured to execute a program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to execute the high-precision assisted berthing method for ships based on RTK and vision fusion as described in any one of claims 1-4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is run on the processor, the processor executes the high-precision assisted berthing method for ships based on RTK and vision fusion as described in any one of claims 1-4.

8. A computer program product, characterized in that, When the computer program product is run on the processor, the processor executes the high-precision assisted berthing method for ships based on RTK and vision fusion as described in any one of claims 1-4.

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