CN110517537A - A kind of unmanned boat autonomous navigation system and method - Google Patents
A kind of unmanned boat autonomous navigation system and method Download PDFInfo
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- CN110517537A CN110517537A CN201910690392.1A CN201910690392A CN110517537A CN 110517537 A CN110517537 A CN 110517537A CN 201910690392 A CN201910690392 A CN 201910690392A CN 110517537 A CN110517537 A CN 110517537A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Abstract
The invention belongs to ship intellectualized technology field more particularly to a kind of unmanned boat autonomous navigation system and methods.Method includes: the external environmental information for obtaining unmanned boat；Foreseeable risk information where receiving the unmanned boat that bank base command centre sends in the preset time period of sea area；According to external environmental information and risk information, the first navigation path currently performed to unmanned boat carries out risk assessment, to determine that unmanned boat whether there is risk according to the navigation of the first navigation path, the first course path is the path that unmanned boat autonomous navigation system is determined according to the origin information of unmanned boat, destination information and electronic chart；If risk evaluation result is high-risk grade, the second navigation path is planned again according to external environmental information, risk information, current location, destination information, so that unmanned boat is navigated by water according to the second navigation path planned again.Method provided by the invention considers foreseeable risk during unmanned boat autonomous navigation, keeps unmanned boat navigation safer.
Description
Technical field
The invention belongs to ship intellectualized technology field more particularly to a kind of unmanned boat autonomous navigation system and methods.
Background technique
Under the overall background of ocean power, the development of unmanned boat has been the inexorable trend of current shipping field development.With
The rapid development of the new techniques such as big data, artificial intelligence, sensor, Internet of Things, unmanned boat have entered the high speed development stage, make
For one of the chief technology of unmanned boat, the realization of autonomous navigation function is then the most important thing for unmanned boat.
109634289 A of Chinese patent CN discloses a kind of unmanned boat autonomous navigation system and its working method, this application
In unmanned boat autonomous navigation system can be realized the control of unmanned boat autonomous navigation and ground control, and there is certain failure to hold
Wrong control strategy.
But it does not account for foreseeable risk during unmanned boat autonomous navigation and unmanned boat autonomous navigation is carried out complete
Face risk assessment.
Summary of the invention
(1) technical problems to be solved
For existing technical problem, the present invention provides a kind of unmanned boat autonomous navigation system and method.The system
A variety of perception approach acquisition environmental informations, consideration many factors are taken, it is reasonable, safe, flexible, efficient, economical that planning and designing go out
Navigation route.
(2) technical solution
The present invention provides a kind of unmanned boat autonomous navigation method, comprising:
A1, the external environmental information for obtaining unmanned boat；
A2, the foreseeable risk received in the unmanned boat place sea area preset time period that bank base command centre sends are believed
Breath；
A3, it is navigated by water according to the external environmental information and the risk information, currently performed to the unmanned boat first
Path carries out risk assessment, to determine unmanned boat according to first navigation path navigation with the presence or absence of risk, first boat
It is the road that unmanned boat autonomous navigation system is determined according to the origin information of unmanned boat, destination information and electronic chart to path
Diameter；
If A4, risk evaluation result are high-risk grade, according to the external environmental information, risk information, present bit
Set, destination information plans the second navigation path again so that unmanned boat navigates according to the second navigation path for planning again
Row.
Further, after the step A4, further includes:
Again the second navigation path planned is sent into the bank base command centre, so that the bank base command centre is checked
Whether second navigation path is feasible；
If receiving the available information of bank base command centre return, unmanned boat autonomous navigation system is according to second boat
Walking along the street diameter drives unmanned boat；
Alternatively,
If receive bank base command centre return can not row information, to bank base command centre transmitting path request believe
Breath；
The third navigation path that the bank base command centre returns is received, then unmanned boat autonomous navigation system is according to described the
Three navigation paths drive unmanned boat.
Further, further includes:
When being less than pre-determined distance at a distance from destination, parking information is sent to bank base command centre；
Receive the information of berthing that the bank base command centre returns according to the parking information；
According to berth information and the current location, the 4th navigation road of position of berthing described in the unmanned boat arrival is planned
Diameter, and unmanned boat is driven according to the 4th navigation path.
Further, the external environmental information includes:
Wind speed, the wind direction, weather information information in sea area where the position of unmanned boat and course information, unmanned boat.
Further, the step A3 includes:
To external environmental information and risk information carry out data format unified integration, data conversion, data cleansing, filtering and
The processing of time-frequency domain conversion, according to treated external environmental information and risk information, the first boat currently performed to unmanned boat
Walking along the street diameter carries out risk assessment.
Further, first navigation path, the second navigation path, third navigation path and the 4th navigation path are deposited
Storage.
The present invention also provides a kind of unmanned boat autonomous navigation systems, comprising:
Sensing module, for obtaining the external environmental information of unmanned boat；
Receiving module, being contemplated that in the preset time period of sea area where the unmanned boat for receiving the transmission of bank base command centre
Risk information；
Sailing decision-making module is used for according to the external environmental information and the risk information, current to the unmanned boat
The first navigation path executed carries out risk assessment, to determine unmanned boat according to first navigation path navigation with the presence or absence of wind
Danger, first course path are origin information, destination information and electricity of the unmanned boat autonomous navigation system according to unmanned boat
The path that sub- sea chart determines；
If risk evaluation result be high-risk grade, according to the external environmental information, risk information, current location,
Destination information plans the second navigation path again, so that unmanned boat is navigated by water according to the second navigation path planned again.
Further, further includes:
Sending module, the second navigation path for that will plan again sends the bank base command centre, so that the bank
Base command centre checks whether second navigation path is feasible；
Receiving module, if being also used to receive the available information of bank base command centre return；
Execution module is navigated by water, drives unmanned boat according to second navigation path for unmanned boat autonomous navigation system；
Alternatively,
Receiving module, for receive bank base command centre return can not row information；
Sending module is also used to bank base command centre transmitting path solicited message；
Receiving module is also used to receive the third navigation path that the bank base command centre returns；
Execution module is navigated by water, drives unmanned boat according to the third navigation path for unmanned boat autonomous navigation system.
Further, further includes:
Memory module, for first navigation path, the second navigation path, third navigation path and the 4th to be navigated by water road
Diameter storage.
The present invention also provides a kind of unmanned boat communication system, including the unmanned boat autonomous navigation system that is located on unmanned boat and
Bank base command centre in bank base；
The unmanned boat autonomous navigation system is interacted with the bank base command centre, executes method described in above scheme.
(3) beneficial effect
(1) unmanned boat autonomous navigation system provided by the invention, by co-ordination between multiple modules, it is original nobody
On the basis of the autonomous navigation system of ship sea, it is added to a variety of boats such as risk assessment, departure from port of reaching port, failure reply, data backup
Row miscellaneous function.
(2) unmanned boat autonomous navigation system provided by the invention can be real-time in unmanned boat after completing routeing
Different navigation strategies is taken according to the different scenes in locating waters.It can adjust to changed conditions, be improved particularly for different scenes
Adaptability when unmanned boat is in face of special scenes such as bad weather, ship failure, complicated traffic conditions.
Control authority grade is arranged in bank base command centre, also makes bank base commander more safe and reliable.
(3) unmanned boat autonomous navigation system provided by the invention, is expanded in terms of aeronautical data storage, using more
Kind of mode stores the data record that unmanned boat navigates by water every time, for further analyze and as the reference of subsequent navigational duty and
Simulated maneuver, while the data backup function of data storage section can carry out in time System reorganization when system breaks down,
Guarantee system stability.
(4) unmanned boat communication system provided by the invention, by unmanned boat autonomous navigation system in conjunction with bank base command centre
Get up, bank base command centre can grasp the letter such as current unmanned boat aeronautical data, sea area status assessment, current flight strategy in real time
Breath carries out control analysis to the navigation of unmanned boat, improves the stability and safety of unmanned boat navigation.
Detailed description of the invention
Fig. 1 is the flow chart of unmanned boat autonomous navigation method provided by the invention；
Fig. 2 is the flow chart in the embodiment of the present invention 1.
Fig. 3 is the structural schematic diagram in the embodiment of the present invention 3.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
Embodiment 1
The present embodiment provides a kind of unmanned boat autonomous navigation methods, as shown in Figure 1, 2, comprising:
A1, the external environmental information for obtaining unmanned boat.
External environmental information includes: the position of unmanned boat and wind speed, wind direction, the water of course information, unmanned boat place sea area
Deep, weather information.
A2, the foreseeable risk received in the unmanned boat place sea area preset time period that bank base command centre sends are believed
Breath: there are the weather environments that sleet mist is unfavorable for safe navigation in such as front；It is unfavorable for the rapids and shoals of ship's navigation control；Nothing
The covers that the simple collision prevention of method passes through；Because water level caused by tide factor is excessively shallow；The more ship meetings in front caused by air route is busy
It meets, navigates by water the dangerous informations such as unsmooth.
A3, data format unified integration, data conversion, data cleansing, filter are carried out to external environmental information and risk information
The processing of wave and time-frequency domain conversion, according to treated external environmental information and risk information, currently performed to unmanned boat the
One navigation path carries out risk assessment, to determine unmanned boat according to the navigation of the first navigation path with the presence or absence of risk, the first course
Path is the road that unmanned boat autonomous navigation system is determined according to the origin information of unmanned boat, destination information and electronic chart
Diameter.
If A4, risk evaluation result are high-risk grade, according to external environmental information, risk information, current location, mesh
Ground information plan the second navigation path again so that unmanned boat is navigated by water according to the second navigation path for planning again.
A5, the second navigation path planned again is sent into the bank base command centre, so that the bank base command centre
Check whether second navigation path is feasible；
If receiving the available information of bank base command centre return, unmanned boat autonomous navigation system is according to second boat
Walking along the street diameter drives unmanned boat；
Alternatively,
If receive bank base command centre return can not row information, to bank base command centre transmitting path request believe
Breath；
The third navigation path that bank base command centre returns is received, then unmanned boat autonomous navigation system is navigated according to the third
Walking along the street diameter drives unmanned boat.
Preferably, unmanned boat autonomous navigation system can pass through safe distance, rudder for ship ship between taking the limitation speed of a ship or plane, increasing ship
Anchor arrangement equal measures standby at any time, it is ensured that unmanned boat can safety dangerously exposed waters, avoid risk.
Further, further includes:
When being less than pre-determined distance at a distance from destination, parking information is sent to bank base command centre；
Receive the information of berthing that the bank base command centre returns according to the parking information；
According to berth information and the current location, the 4th navigation road of position of berthing described in the unmanned boat arrival is planned
Diameter, and unmanned boat is driven according to the 4th navigation path.
Further, further includes:
Reach berth when, send information of berthing to bank base command centre；
Receive the anchoring information that information of berthing described in the bank base command centre foundation returns；
According to the anchoring information, the anchoring approach of the unmanned boat is planned, and control nobody according to the anchoring approach
The casting anchor of ship, anchor mode.
Further, further includes:
When navigation to complex water areas, the complex water areas letter in sea area where receiving the unmanned ship that bank base command centre sends
Breath；
According to external environmental information and complex water areas information, danger is carried out to the currently performed navigation path of unmanned boat and is commented
Estimate, to determine that unmanned boat whether there is danger according to the navigation of current course path, if assessment of risks result is high-risk grade,
The 5th navigation path is planned again according to external environmental information, complex water areas information, current location, destination information, so that nothing
People's ship is navigated by water according to the 5th navigation path of planning again.
Further, further includes:
When unmanned boat device fails, to bank base command centre sending device fault message；
Receive the assessment information that bank base command centre returns according to device fault information；
According to assessment information and current location, the ship equipment that controlling can employ executes emergency steaming and instructs, while to
Bank base center sends information warning.
Further, further includes:
When being less than pre-determined distance at a distance from other ships, warning information is sent to bank base command centre；
It receives bank base command centre and estimates information according to what warning information returned；
According to external environmental information, estimates information, current location, destination information and plan the 6th navigation path again, with
Navigate by water unmanned boat according to the 6th navigation path of planning again.
Further, above-mentioned first navigation path to the 6th navigation path is stored.
Embodiment 2
The present embodiment provides a kind of unmanned boat autonomous navigation systems, comprising:
Sensing module, for obtaining the external environmental information of unmanned boat；The external environmental information includes: the position of unmanned boat
Set wind speed, the wind direction, weather information information with sea area where course information, unmanned boat；
Receiving module, being contemplated that in the preset time period of sea area where the unmanned boat for receiving the transmission of bank base command centre
Risk information；
Sailing decision-making module, for according to external environmental information and risk information, the first boat currently performed to unmanned boat
Walking along the street diameter carries out risk assessment, to determine unmanned boat according to first navigation path navigation with the presence or absence of risk, the first course
Path is the road that unmanned boat autonomous navigation system is determined according to the origin information of unmanned boat, destination information and electronic chart
Diameter；
If risk evaluation result is high-risk grade, according to external environmental information, risk information, current location, purpose
Ground information plans the second navigation path again, so that unmanned boat is navigated by water according to the second navigation path planned again.
Sending module, the second navigation path for that will plan again send bank base command centre, so that in bank base commander
The heart checks whether second navigation path is feasible；
Receiving module, if being also used to receive the available information of bank base command centre return；
Execution module is navigated by water, drives unmanned boat according to second navigation path for unmanned boat autonomous navigation system；
Alternatively,
Receiving module, for receive bank base command centre return can not row information；
Sending module is also used to bank base command centre transmitting path solicited message；
Receiving module is also used to receive the third navigation path of bank base command centre return；
Execution module is navigated by water, drives unmanned boat according to the third navigation path for unmanned boat autonomous navigation system.
Further, further includes:
Sending module, for sending the letter that berths to bank base command centre when being less than pre-determined distance at a distance from destination
Breath；
Receiving module, the information of berthing returned for receiving the bank base command centre according to parking information；
Execution module is navigated by water, for information and the current location of berthing according to, plans that unmanned boat reaches position of berthing
4th navigation path, and unmanned boat is driven according to the 4th navigation path.
Further, further includes:
Sending module, for reach berth when, send information of berthing to bank base command centre；
Receiving module, the anchoring information returned for receiving information of berthing described in the bank base command centre foundation；
Execution module is navigated by water, for planning the anchoring approach of the unmanned boat, and according to described according to the anchoring information
Anchoring approach control the casting anchor of unmanned boat, anchor mode.
Further, further includes:
Receiving module, for sea where when navigation to complex water areas, receiving the unmanned ship that bank base command centre sends
The complex water areas information in domain；
Sailing decision-making module, for foundation external environmental information and complex water areas information, to the currently performed boat of unmanned boat
Walking along the street diameter carries out assessment of risks, to determine that unmanned boat whether there is danger according to the navigation of current course path, if assessment of risks knot
Fruit is high-risk grade, then plans the again according to external environmental information, complex water areas information, current location, destination information
Five navigation paths, so that unmanned boat is navigated by water according to the 5th navigation path of planning again.
Further, further includes:
Sending module is used for when unmanned boat device fails, to bank base command centre sending device fault message；
Receiving module, the assessment information returned for receiving bank base command centre according to device fault information；
Sailing decision-making module is answered for according to assessment information and current location, controlling the ship equipment execution that can be employed
Anxious sailing command, while information warning is sent to bank base center.
Further, further includes:
Sending module, for sending early warning to bank base command centre when being less than pre-determined distance at a distance from other ships
Information；
Receiving module estimates information according to what warning information returned for receiving bank base command centre；
Sailing decision-making module, for according to external environmental information, estimate information, current location, destination information and advise again
The 6th navigation path is drawn, so that unmanned boat is navigated by water according to the 6th navigation path of planning again.
Further, further includes:
Memory module, for storing first navigation path to the 6th navigation path.After the information of storage can be used for
Continuous navigation assessment and simulated maneuver restore navigation process under virtual environment and advanced optimize unmanned boat autonomous navigation system
System.
Further, sensing module includes environmental sensor, sounding instrument and atmospherium, and environmental sensor is for obtaining nobody
The wind speed in sea area, wind direction information where ship；The Water Depth Information in sea area where sounding instrument is used to obtain unmanned boat；Atmospherium is for obtaining
The weather information in sea area where taking unmanned boat.
Further, sensing module further includes data conversion submodule and feature extraction submodule, data conversion submodule
For external environmental information and risk information to be carried out data format unified integration, data conversion, data cleansing；Feature extraction
Module is used to for the information that data conversion submodule is handled being filtered and time-frequency domain conversion process, execution synchronization or asynchronous flat
, it realizes that information characteristics extract, further simplifies Information Compression.
Further, sensing module further includes state-detection submodule, and state-detection submodule is for receiving external environment
External environmental information and preset desired value, ship operation limitation are compared, are completed to unmanned boat to place sea area by information
And the cognition of the overall condition of self performance.
Embodiment 3
The present embodiment provides a kind of unmanned boat autonomous navigation systems, comprising:
Sensing module, for obtaining the navigation environment information of unmanned boat；Navigation environment information includes: navigation environment feature letter
Breath, water-bed environmental information, climatic information, weather information, unmanned boat performance and equipment running parameter, nautical chart information, Hai Luxin
Position, speed and the range information of barrier and other ships along breath, unmanned boat navigation.
Receiving module, being contemplated that in the preset time period of sea area where the unmanned boat for receiving the transmission of bank base command centre
Risk information；
Sailing decision-making module, for according to navigation environment information and risk information, the first boat currently performed to unmanned boat
Walking along the street diameter carries out risk assessment, to determine unmanned boat according to first navigation path navigation with the presence or absence of risk, the first course
Path is the road that unmanned boat autonomous navigation system is determined according to the origin information of unmanned boat, destination information and electronic chart
Diameter；
If risk evaluation result is high-risk grade, according to navigation environment information, risk information, current location, purpose
Ground information plans the second navigation path again, so that unmanned boat is navigated by water according to the second navigation path planned again.
Sending module, the second navigation path for that will plan again send bank base command centre, so that in bank base commander
The heart checks whether second navigation path is feasible；
Receiving module, if being also used to receive the available information of bank base command centre return；
Execution module is navigated by water, drives unmanned boat according to second navigation path for unmanned boat autonomous navigation system；
Alternatively,
Receiving module, for receive bank base command centre return can not row information；
Sending module is also used to bank base command centre transmitting path solicited message；
Receiving module is also used to receive the third navigation path of bank base command centre return；
Execution module is navigated by water, drives unmanned boat according to the third navigation path for unmanned boat autonomous navigation system.
Further, sensing module includes information Perception module and data processing module.Wherein, information Perception module includes
External environment submodule, ship equipment perception submodule and electronic chart submodule.External environment submodule passes through environmentally sensitive
Device navigation environment characteristic information；Water-bed environmental information is obtained by sounding instrument；Climatic information and meteorological letter are obtained by atmospherium
Breath.Ship equipment perceives submodule and obtains unmanned boat during unmanned boat navigates by water by cabin inner sensor, video monitoring equipment etc.
The running parameter of performance and equipment.Electronic chart submodule is by obtaining sea in conjunction with the communication apparatus such as AIS system, GPS system
Figure information, extra large land information, the barrier along unmanned boat navigation and other ships position, speed and range information.Information sense
Know that data information is sent to data processing module as input information and carries out calculation process by module.
Data processing module includes data conversion submodule, feature extraction submodule and state-detection submodule.Wherein, number
It is used to carry out received navigation environment information the processing of data conversion, the navigation ring that distinct device is obtained according to transform subblock
The data format unified integration of border information such as converts analog signals into digital signal, and carries out data cleansing at the operation, after processing
Navigation environment information export to feature extraction submodule；Feature extraction submodule is for receiving treated navigation environment letter
Breath, and to treated, navigation environment information executes the information processing means such as filtering, time-frequency domain conversion, executes synchronous or asynchronous
It is average, realize that the characteristic of navigation environment information is extracted, further navigation environment Information Compression is sent to state inspection after simplifying
Survey submodule；State-detection submodule is used to receive the characteristic of navigation environment, and by the characteristic of navigation environment and in advance
If desired value, ship operation limitation compare, complete to unmanned boat to the overall condition in place sea area and self performance
Cognition.
Further, further includes:
Sending module, for sending the letter that berths to bank base command centre when being less than pre-determined distance at a distance from destination
Breath；
Receiving module, the information of berthing returned for receiving the bank base command centre according to parking information；
Execution module is navigated by water, for information and the current location of berthing according to, plans that unmanned boat reaches position of berthing
4th navigation path, and unmanned boat is driven according to the 4th navigation path.
Further, further includes:
Sending module, for reach berth when, send information of berthing to bank base command centre；
Receiving module, the anchoring information returned for receiving information of berthing described in the bank base command centre foundation；
Execution module is navigated by water, for planning the anchoring approach of the unmanned boat, and according to described according to the anchoring information
Anchoring approach control the casting anchor of unmanned boat, anchor mode.
Further, further includes:
Receiving module, for sea where when navigation to complex water areas, receiving the unmanned ship that bank base command centre sends
The complex water areas information in domain；The complex water areas includes the water-bed environmental information obtained by external environment perception submodule；
Sailing decision-making module, for foundation external environmental information and complex water areas information, to the currently performed boat of unmanned boat
Walking along the street diameter carries out assessment of risks, to determine that unmanned boat whether there is danger according to the navigation of current course path, if assessment of risks knot
Fruit is high-risk grade, then plans the again according to external environmental information, complex water areas information, current location, destination information
Five navigation paths, so that unmanned boat is navigated by water according to the 5th navigation path of planning again.
Further, further includes:
Sending module is used for when unmanned boat device fails, to bank base command centre sending device fault message；Institute
Stating failure is that unmanned boat performance and ship inherent parameters are sentenced during perceiving submodule acquisition unmanned boat navigation according to ship equipment
Disconnected acquisition；
Receiving module, the assessment information returned for receiving bank base command centre according to device fault information；
Sailing decision-making module is answered for according to assessment information and current location, controlling the ship equipment execution that can be employed
Anxious sailing command, while information warning is sent to bank base center.
Further, further includes:
Sending module, for sending early warning to bank base command centre when being less than pre-determined distance at a distance from other ships
Information；Described is to be obtained at a distance from other ships according to electronic chart submodule；
Receiving module estimates information according to what warning information returned for receiving bank base command centre；
Sailing decision-making module, for according to external environmental information, estimate information, current location, destination information and advise again
The 6th navigation path is drawn, so that unmanned boat is navigated by water according to the 6th navigation path of planning again.
As shown in figure 3, among the above, unmanned boat autonomous navigation system is former with other ship meeting collision preventions, unmanned ship equipment
The decision that barrier is made when occurring, belongs to conventional sailing decision-making；It carrying out waters risk assessment, leaning on from pool and anchoring operation, complexity
The decision of water-area navigation belongs to advanced sailing decision-making.
Further, further includes:
Memory module, for storing first navigation path to the 6th navigation path.After the information of storage can be used for
Continuous navigation assessment and simulated maneuver restore navigation process under virtual environment and advanced optimize unmanned boat autonomous navigation system
System.
The present invention also provides a kind of unmanned ship communication systems, including the unmanned boat autonomous navigation system being located on unmanned ship
System and the bank base command centre in bank base, unmanned boat autonomous navigation system and bank base command centre execute described in embodiment 1
Method.
Further, different control authority grades is arranged in bank base command centre, so that bank base commander is more safe and reliable.
When unmanned boat is located at offshore navigation, unmanned boat by the mobile communication base station of land fast and accurately with bank
Information exchange is established at base center；During oceangoing voyage, unmanned boat then can carry out information using satellite communication and bank base center
Transmitting, it is ensured that do not have information exchange dead angle during entire navigation.
The technical principle of the invention is described above in combination with a specific embodiment, these descriptions are intended merely to explain of the invention
Principle shall not be construed in any way as a limitation of the scope of protection of the invention.Based on explaining herein, those skilled in the art
It can associate with other specific embodiments of the invention without creative labor, these modes fall within this hair
Within bright protection scope.
Claims (10)
1. a kind of unmanned boat autonomous navigation method characterized by comprising
A1, the external environmental information for obtaining unmanned boat；
Foreseeable risk information where the unmanned boat that A2, reception bank base command centre send in the preset time period of sea area；
A3, according to the external environmental information and the risk information, the first navigation path currently performed to the unmanned boat
Risk assessment is carried out, to determine unmanned boat according to first navigation path navigation with the presence or absence of risk, first course road
Diameter is the path that unmanned boat autonomous navigation system is determined according to the origin information of unmanned boat, destination information and electronic chart；
If A4, risk evaluation result are high-risk grade, according to the external environmental information, risk information, current location, mesh
Ground information plan the second navigation path again so that unmanned boat is navigated by water according to the second navigation path for planning again.
2. unmanned boat autonomous navigation method according to claim 1, which is characterized in that after the step A4, further includes:
Again the second navigation path planned is sent into the bank base command centre so that the bank base command centre check it is described
Whether the second navigation path is feasible；
If receiving the available information of bank base command centre return, unmanned boat autonomous navigation system is according to second navigation road
Diameter drives unmanned boat；
Alternatively,
If receive bank base command centre return can not row information, to bank base command centre transmitting path solicited message；
The third navigation path that the bank base command centre returns is received, then unmanned boat autonomous navigation system is navigated according to the third
Walking along the street diameter drives unmanned boat.
3. unmanned boat autonomous navigation method according to claim 2, which is characterized in that further include:
When being less than pre-determined distance at a distance from destination, parking information is sent to bank base command centre；
Receive the information of berthing that the bank base command centre returns according to the parking information；
According to berth information and the current location, the 4th navigation path of position of berthing described in the unmanned boat arrival is planned,
And unmanned boat is driven according to the 4th navigation path.
4. unmanned boat autonomous navigation method according to claim 3, which is characterized in that the external environmental information includes:
Wind speed, the wind direction, weather information information in sea area where the position of unmanned boat and course information, unmanned boat.
5. unmanned boat autonomous navigation method according to claim 4, which is characterized in that the step A3 includes:
Data format unified integration, data conversion, data cleansing, filtering and time-frequency are carried out to external environmental information and risk information
The processing of domain conversion, according to treated external environmental information and risk information, the first navigation currently performed to unmanned boat road
Diameter carries out risk assessment.
6. unmanned boat autonomous navigation method according to claim 5, which is characterized in that by first navigation path,
Two navigation paths, third navigation path and the storage of the 4th navigation path.
7. a kind of unmanned boat autonomous navigation system characterized by comprising
Sensing module, for obtaining the external environmental information of unmanned boat；
Receiving module, the foreseeable wind where the unmanned boat for receiving the transmission of bank base command centre in the preset time period of sea area
Dangerous information；
Sailing decision-making module, for currently being executed to the unmanned boat according to the external environmental information and the risk information
The first navigation path carry out risk assessment, with determine unmanned boat according to first navigation path navigation with the presence or absence of risk,
First course path is origin information, destination information and electron sea of the unmanned boat autonomous navigation system according to unmanned boat
Scheme determining path；
If risk evaluation result is high-risk grade, according to the external environmental information, risk information, current location, purpose
Ground information plans the second navigation path again, so that unmanned boat is navigated by water according to the second navigation path planned again.
8. unmanned boat autonomous navigation system according to claim 7, which is characterized in that further include:
Sending module, the second navigation path for that will plan again sends the bank base command centre, so that the bank base refers to
The center of waving checks whether second navigation path is feasible；
Receiving module, if being also used to receive the available information of bank base command centre return；
Execution module is navigated by water, drives unmanned boat according to second navigation path for unmanned boat autonomous navigation system；
Alternatively,
Receiving module, for receive bank base command centre return can not row information；
Sending module is also used to bank base command centre transmitting path solicited message；
Receiving module is also used to receive the third navigation path that the bank base command centre returns；
Execution module is navigated by water, drives unmanned boat according to the third navigation path for unmanned boat autonomous navigation system.
9. unmanned boat autonomous navigation system according to claim 8, which is characterized in that further include:
Memory module, for storing first navigation path, the second navigation path and third navigation path.
10. a kind of unmanned boat communication system, including the unmanned boat autonomous navigation system being located on unmanned boat and in bank base
Bank base command centre；
The unmanned boat autonomous navigation system is interacted with the bank base command centre, executes side described in the claims 1-6
Method.
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