The invention discloses a step-by-step spatial scale search-based water surface vehicle
route planning navigation method, which comprises the following steps: S1, constructing a rasterized electronic chart containing
water depth information, and marking non-navigable data influencing the navigation of a water surface vehicle on the electronic chart; s2, a task target from the navigation starting point to the navigation ending point of the water surface vehicle is set in the electronic chart, m
layers of sub-grid masks with sequentially reduced grid space scales are constructed on the electronic chart, the front m-1
layers of sub-grid masks sequentially execute grid
route chain search of the front and rear
layers of accumulated
heuristic task targets, and the (m-1) th layer of sub-grid
mask outputs a
route chain; and S3, performing optimal
path search and optimization on the mth layer of sub-grid
mask by using the route chain to obtain a water surface vehicle planning route. According to the method, search guidance of front and rear layer accumulated
heuristic task targets is realized, and a refined route chain is obtained through quick search of a multi-layer sub-grid
mask, so that the search calculation amount and complexity are reduced, and the water surface
navigation path planning efficiency is improved.