The invention discloses an unmanned ship navigation control method and
system, a storage medium and
computer equipment. According to the
system, actual
longitude and
latitude information acquired by an attitude sensor and set
longitude and
latitude serve as input and are transmitted to a
navigation path controller, and an LOS angle is obtained through an LOS guidance
algorithm and serves as a setcourse angle to be transmitted to a course controller based on trajectory
linearization. The course controller is divided into a slow loop controller and a fast loop controller. The set course angle and the actual course angle acquired by a sensor magnetic
compass serve as input and are transmitted into the slow loop controller, and due to the cooperation of a first pseudo-
inverse system module and a first stable
regulator module of the slow loop controller, output parameters of the slow loop controller are obtained and transmitted into the fast loop controller. The actual
rudder angle obtained by a
rudder angle detection device serves as input and is transmitted into the fast loop controller, and by means of a second pseudo-
inverse system module and a second stable
regulator module of thefast loop controller, fast
loop control input is obtained and acts on a
stern machine propelling device of an unmanned ship so that the purpose of indirectly achieving
navigation path control can beachieved by controlling the course.