CN116772852A - Unmanned ship safety protection sensing system and judgment method - Google Patents
Unmanned ship safety protection sensing system and judgment method Download PDFInfo
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Abstract
The application provides a safety protection sensing system of an unmanned ship, which is characterized by comprising navigation equipment, photoelectric detection equipment and an unmanned ship control host computer which are arranged at a ship end, wherein: the navigation equipment provides navigation information required by safety protection perception judgment for the unmanned ship control host; the photoelectric detection equipment provides environment perception information required by safety protection perception judgment for the unmanned ship control host; the unmanned ship control host adopts a safety protection sensing judging method to judge whether the unmanned ship is hijacked or not and the risk of data information leakage exists currently. The application further provides a unmanned ship safety protection perception judging method. The unmanned ship safety protection sensing judgment system and method can overcome the defects that in the prior art, a sensor is additionally required to be introduced in the unmanned ship data self-destruction protection judgment, or misjudgment exists in the judgment mode, and the like, and the unmanned ship safety protection sensing judgment system and method are provided by utilizing the basic load configured by the unmanned ship.
Description
Technical Field
The application relates to a safety perception system and a method for data self-destruction protection of an unmanned ship, and belongs to the technical field of unmanned ship safety protection.
Background
Unmanned boats are widely applied in the fields of personnel and material transportation, maritime search and rescue, patrol warning, national defense and military, and the like, but because of limited communication bandwidth, a large amount of detection data information, database information and the like need to be stored in unmanned boat end equipment. If the unmanned ship is out of connection and hijacked by enemy capture, the risks of sensitive data and technical information leakage exist, and particularly, the unmanned ship equipment in the military field has serious consequences caused by the occurrence of the problems. Therefore, the safety protection design of the unmanned ship is of great importance.
The open number of the patent of the open number CN112182671A of the pearly-sea Yun Zhou company discloses an unmanned ship and a data self-destruction method thereof, and aims at the defect that when an emergency occurs in the unmanned ship, a lot of additional equipment is required to be introduced for automatically destroying data, the existing equipment on the unmanned ship is comprehensively utilized, the communication disconnection timeout judgment is combined, or whether the unmanned ship is in an emergency state or not is comprehensively judged through radar, photoelectricity, AIS and other environment sensing equipment and sensor data such as ship temperature, humidity and the like. If the situation occurs, the key data is destroyed by the boat end industrial personal computer by adopting a data overwriting method. The unmanned ship abnormal conditions are judged by comprehensive radar, photoelectric, AIS and other environment sensing equipment and rudder angle, water leakage and other sensors, the unmanned ship abnormal conditions are numerous, the data processing capacity is large, the criterion condition of the unmanned ship burst state is unclear, and the risk of misjudging and missing judging of the data self-destruction exists.
The Chinese ship industry system engineering institute discloses a physical self-destruction device of the unmanned ship memory in a patent with publication number of CN114781009A, generates self-destruction signals through communication disconnection overtime judgment or abnormal triggering of a cabin door proximity sensor or detection of water level superelevation and other condition judgment by a liquid level sensor of an equipment cabin, and realizes data self-destruction protection of the unmanned ship in the situations of hijacking, losing, sinking and the like by using a high-voltage breakdown memory physical device. In the scheme, devices such as a proximity sensor and a liquid level sensor are additionally added, when the cabin door proximity sensor is opened in an unmanned mode, a self-destruction instruction is triggered, so that the sensor can be self-destroyed when being mistakenly touched due to accidents, unnecessary loss is caused, and the self-destruction protection device for the unmanned ship storage disclosed by the application is only suitable for an unmanned ship with a power supply arranged in an equipment cabin, and has harsh application conditions.
The condition for judging the self-destruction of the data in the disclosed technology is that the communication is overtime, the unmanned ship can not communicate for a long time due to the electronic countermeasure environment in the battlefield in the normal communication range, but can still execute the operation task autonomously, if the data is self-destroyed directly due to the communication overtime, the self-destruction protection of the data judges that the false alarm rate is high, the protection is excessive, and the task is failed and unnecessary loss is caused.
The patent with publication number CN106778370A proposes a safe self-destruction judging method and equipment suitable for unmanned plane, unmanned ship and unmanned submarine, and the method and equipment judges whether unmanned equipment reaches a specified safe area within a predicted time period, if not, a self-destruction program is started, and stored data is deleted. However, when the scheme is applied to the unmanned ship, if the unmanned ship cannot normally navigate to a target position due to a power system failure, the data self-destruction is directly triggered, and the serious loss is caused. During this time, the unmanned boat may still float freely on the sea surface without suffering any hijacking, and the self-destruction judgment mode may have misjudgment.
In summary, the disclosed unmanned ship safety protection and data self-destruction device and method can effectively threaten sensitive data information leakage caused by physical capturing, accidental stranding, sinking and the like, but the cost is increased due to the fact that a sensor and an alarm device are additionally introduced, and the data self-destruction judging mode has the defects of insufficient combination of the specific working state of the unmanned ship, misjudgment and omission and easy unnecessary loss.
Disclosure of Invention
The purpose of the application is that: the unmanned ship data self-destruction protection safety perception judgment method solves the problem of safety perception judgment of unmanned ship data self-destruction protection, utilizes navigation equipment, detection equipment and navigation control host equipment configured by the unmanned ship, considers possible abnormal conditions under different working states of the unmanned ship, forms an unmanned ship safety protection perception system and a judgment method, and reduces misjudgment and missed judgment conditions of the unmanned ship data self-destruction protection.
In order to achieve the above purpose, the technical scheme of the application is to provide an unmanned ship safety protection sensing system, which is characterized by comprising navigation equipment, photoelectric detection equipment and an unmanned ship control host machine which are equipped at a ship end, wherein:
the navigation equipment provides navigation information required by safety protection perception judgment for the unmanned ship control host;
the photoelectric detection equipment provides environment perception information required by safety protection perception judgment for the unmanned ship control host;
the unmanned ship control host judges whether the unmanned ship is hijacked or not and the risk of data information leakage according to navigation information, environment perception information, recorded task state information and route planning information of the current unmanned ship by adopting a safety protection perception judging method, and finally outputs a safety alarm signal and a safety protection instruction signal, wherein the safety protection instruction signal is sent to a data self-destruction device configured by the unmanned ship control host in the form of an electric signal and is used for starting corresponding data self-destruction protection measures.
Preferably, the navigation information comprises real-time positioning information, navigational speed information and heading information of the unmanned ship; the environment perception information comprises video image information of the circumference of the unmanned ship, the category of surrounding targets, the distance between the surrounding targets and the current unmanned ship and the azimuth of the surrounding targets relative to the current unmanned ship.
Preferably, the navigation device is a satellite navigation device or an inertial navigation device.
Preferably, the photoelectric detection equipment is provided with a pitching and azimuth servo control mechanism and a visible light sensor, an infrared sensor and a laser ranging device.
Or the photoelectric detection equipment is a plurality of visible light and infrared detection equipment distributed outside the unmanned ship cabin;
or the photoelectric detection equipment is panoramic vision equipment which is arranged at a peripheral no-line shielding position on the unmanned ship, is integrated by a plurality of visible light and infrared detection sensor modules and has a detection view field with the peripheral direction not lower than 300 degrees.
Preferably, a plurality of the visible light and infrared detection equipment detection fields can cover a range of not less than 300 degrees in the horizontal circumferential direction of the unmanned ship.
Preferably, the task state information includes an unmanned ship's out-of-flight ready state, out-of-flight state, in-operation state, standby state, return-to-flight state, and personnel transfer state, wherein: the navigational preparation state is that the unmanned ship performs state inspection at the starting point, and the unmanned ship is laid into water from a shore base or a mother ship, or the unmanned ship navigates out of the cabin from the inside of the mother ship cabin; the sailing state is a state that the unmanned ship sails from the starting point to the target task area and does not reach the target task area yet; the state in the operation is a state that the unmanned ship starts to execute a specific operation task in a task area and the operation task is not completed yet; the standby state is a state that the unmanned ship has completed the last operation task and has not received a return instruction or the next operation task; the return state is a state that the unmanned ship receives a return instruction to navigate to a starting point after finishing an operation task in a task area; the personnel transfer state is suitable for unmanned boats which can be operated by people and are controlled by unmanned persons independently, the unmanned boats are provided with cabs, and personnel of a user of the unmanned boat approach and climb on the current unmanned boat through other water surface vehicles in the personnel transfer state.
Preferably, the routing information is the information of the navigation points which are arranged in time sequence and are planned by the unmanned ship control host according to the routing algorithm under different task states
Preferably, the unmanned ship task state information is obtained by judging through an unmanned ship control host according to a task scheme and a control instruction issued by an unmanned ship remote control end.
The application provides a method for judging the safety protection perception of an unmanned ship, which is characterized in that the safety protection perception system applied to the unmanned ship comprises the following steps:
step 1, acquiring task state information of a current unmanned ship by an unmanned ship control host computer: if the unmanned ship is in a voyage preparation state or a personnel transfer state, the safety warning signal and the safety protection instruction signal are placed in a characterization non-emergency situation; if the unmanned ship is not in the sailing preparation state and the personnel transfer state, entering a step 2;
step 2, judging whether the unmanned ship is in a standby state, if not, entering a step 4, and if so, entering a step 3;
step 3, the unmanned ship control host acquires environment sensing information and judges based on the environment sensing information: if a water surface carrier which does not belong to the own side or the friend side of the unmanned ship exists in the targets around the unmanned ship, the distance between the water surface carrier which does not belong to the own side or the friend side of the unmanned ship and the current unmanned ship continuously does not exceed a preset distance range, the duration exceeds a preset time threshold, the unmanned ship is at risk of being hijacked or illegally invaded, a safety alarm signal and a safety protection instruction signal are placed in a characterization emergency situation and used for starting corresponding data self-destruction protection measures, and otherwise, the safety alarm signal and the safety protection instruction signal are placed in a characterization non-emergency situation; if no water surface carrier which does not belong to the own side or the friend side of the unmanned ship exists in the targets around the unmanned ship, the safety warning signal and the safety protection instruction signal are placed in the characterization non-emergency;
and 4, analyzing and comparing the unmanned ship positioning information and the route planning information in the navigation information by the unmanned ship, and placing the safety warning signal and the safety protection instruction signal on the basis of the comparison result to represent non-emergency or emergency.
Preferably, in step 4, if the deviation between the positioning of the unmanned ship at different moments and the track point position in the route planning information at corresponding moments exceeds a certain distance threshold, and the duration of the deviation between the actual positioning and the planned track position exceeds the distance threshold exceeds a time threshold, returning to step 3, and further combining the environment sensing information to judge whether the hijacked or illegal invasion risk exists; otherwise, the safety alarm signal and the safety protection instruction signal are placed in the characterization non-emergency.
The unmanned ship safety protection sensing judgment system and method can overcome the defects that in the prior art, a sensor is additionally introduced in the unmanned ship data self-destruction protection judgment, or misjudgment exists in the judgment mode, and the like, and utilizes the basic load (basic load: equipment which is necessary to be equipped for meeting the self-safety navigation requirement of the unmanned ship and can provide navigation information, environment sensing information and communication functions) configured by the unmanned ship, so that the unmanned ship safety protection sensing judgment system and method are provided.
Compared with the prior art, the application has the following beneficial effects:
(1) Only the equipment information of the unmanned ship is utilized, a detection sensor is not required to be added, and judgment of safety protection of the unmanned ship can be realized;
(2) Fully combines the working state of the unmanned ship, the navigation information of the unmanned ship and the environmental perception information, classifies and discriminates the emergency situation of the unmanned ship, compared with the method of carrying out data destruction safety protection judgment and the like by utilizing communication disconnection timeout judgment, the method is beneficial to reducing the loss caused by data destruction under excessive protection due to missed judgment and misjudgment of unmanned ship safety protection.
Drawings
FIG. 1 illustrates unmanned boat safety protection sensing system composition;
fig. 2 illustrates a flow of the unmanned ship safety protection perception judgment method.
Detailed Description
The application will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present application and are not intended to limit the scope of the present application. Furthermore, it should be understood that various changes and modifications can be made by one skilled in the art after reading the teachings of the present application, and such equivalents are intended to fall within the scope of the application as defined in the appended claims.
As shown in fig. 1, the unmanned ship safety protection sensing system disclosed by the application comprises navigation equipment, photoelectric detection equipment and an unmanned ship control host machine, wherein the unmanned ship control host machine is a singlechip, a server, an industrial personal computer and the like with a calculation function.
The navigation equipment is in communication connection with the unmanned ship control host (can communicate in an Ethernet form or a serial port or bus communication mode), and provides navigation information required by safety protection perception judgment for the unmanned ship control host. The navigation information comprises real-time positioning information, navigational speed information, heading information and the like of the unmanned aerial vehicle. The photoelectric detection equipment is in communication connection with the unmanned ship control host (mainly through an Ethernet communication mode, including specific forms such as wired network communication and wireless wifi communication), and the photoelectric detection equipment provides environment perception information required by safety protection perception judgment for the unmanned ship control host. The environment perception information comprises video image information of the unmanned ship circumference, surrounding target types, distances and orientations.
In this embodiment, the navigation device may be a satellite navigation device or an inertial navigation device.
In this embodiment, the photoelectric detection device may be a device with a visible light sensor, an infrared sensor and a laser ranging device, which has a pitching and azimuth servo control mechanism. In this embodiment, the photoelectric detection device is in a direction rotation state, and is used for acquiring video and image information of a circumferential environment and a target of the unmanned ship, and through an optical image-based target autonomous recognition algorithm in the prior art, such as a YOLO V3 algorithm and a YOLO V5 algorithm, a water surface target in the environment is recognized, a target class is distinguished, the water surface target is determined to be a user, a friend or an enemy of the unmanned ship, and distance and direction information of the water surface target relative to the unmanned ship are acquired by combining a laser ranging device.
The photoelectric detection equipment can also be a plurality of visible light and infrared detection equipment which are distributed outside the unmanned ship cabin, and the detection view fields of the plurality of visible light and infrared detection equipment can cover the range of not less than 300 degrees in the horizontal circumferential direction of the unmanned ship. Or, the photoelectric detection device is panoramic vision equipment which is arranged at a peripheral line-of-sight-free shielding position on the unmanned ship, is integrated by a plurality of visible light and infrared detection sensor modules, has a detection view field with the peripheral direction not lower than 300 degrees, and is used for acquiring video and image information of the peripheral environment and targets of the unmanned ship. The video and image information of the circumferential environment and the targets of the unmanned ship can be processed through an autonomous recognition algorithm based on the optical image targets in the prior art, such as a YOLO V3 algorithm and a YOLO V5 algorithm, so that the targets on the water surface in the environment are recognized, the types of the targets are distinguished, and the targets on the water surface are judged to be the own side, the friend side or the enemy side of the unmanned ship. The method is characterized in that a monocular vision-based target ranging algorithm is combined to perform ranging calculation on a water surface target in image information (such as publications Zhao Minghui, wang Jianhua and Zheng Xiang, etc.), a monocular vision-based unmanned surface vessel water surface target ranging method [ J ] is combined with a sensor and a microsystem, 2021 and 40 (2): 47-50 and 54, su Ping and Zhu Xiaohui, a monocular vision-based water surface target identification and ranging method is researched [ J ]. Computer technology and development, 2021 and 31 (2): 80-84), and distance and azimuth information of the water surface target relative to the unmanned vessel can be obtained.
And the unmanned ship control host judges whether the unmanned ship is hijacked or not and the risk of data information leakage currently by adopting a safety protection perception judging method according to the navigation information, the environment perception information, the recorded current unmanned ship task state information and the recorded route planning information, and finally outputs a safety alarm signal and a safety protection instruction signal. The safety protection instruction signal is sent to the data self-destruction device in the prior art configured by the unmanned ship control host in the form of an electric signal, and is used for starting corresponding data self-destruction protection measures.
The unmanned ship task state information mainly refers to the unmanned ship's voyage ready state, voyage state, in-operation state, standby state, voyage state and personnel transfer state, wherein: the navigational preparation state is that the unmanned ship performs state inspection at the starting point, and the unmanned ship is laid into water from a shore base or a mother ship, or the unmanned ship navigates out of the cabin from the inside of the mother ship cabin; the sailing state is a state that the unmanned ship sails from the starting point to the target task area and does not reach the target task area yet; the state in the operation is a state that the unmanned ship starts to execute a specific operation task in a task area and the operation task is not completed yet, and the operation task can comprise channel mapping, area patrol warning, personnel or material delivery, underwater reconnaissance and the like; the standby state is a state that the unmanned ship has completed the last operation task and has not received a return instruction or the next operation task; the return state is a state that the unmanned ship receives a return instruction to navigate to a starting point after finishing an operation task in a task area; the personnel transfer state is mainly suitable for unmanned boats which can be operated by people and are controlled by unmanned persons independently, the unmanned boats are generally provided with cabs, and personnel of users of the unmanned boats can approach and climb on the unmanned boats through other water surface vehicles in the state. The unmanned ship task state information can be obtained by judging through the unmanned ship control host according to a task scheme and a control instruction issued by the unmanned ship remote control end.
The navigation path planning information is mainly track point information which is planned by the unmanned ship control host according to a navigation path planning algorithm and is arranged according to time sequence under different task states.
The safety protection perception judging method specifically comprises the following steps:
step 1, according to current unmanned ship task state information: if the unmanned ship is in a ship-out preparation state or a personnel transfer state, the safety warning signal and the safety protection instruction signal are in a low level bit of a normal analog signal or a digital signal 0 (representing a non-emergency); if the unmanned ship is not in the ship-out preparation state and the personnel transfer state, judging whether the unmanned ship is hijacked or illegally invaded or not according to the navigation information, the environment sensing information and the route planning information.
Further, if the unmanned ship is in a standby state, judging according to the environment sensing information: if there is a water surface carrier which does not belong to the own side or the friend side of the unmanned ship in the surrounding targets of the unmanned ship in the environment sensing information, the distance between the water surface carrier which does not belong to the own side or the friend side of the unmanned ship and the unmanned ship is not longer than a certain distance range (can take a value between 20 meters and 200 meters), and the duration is longer than a certain threshold (can take a value between 10 minutes and 60 minutes), the risk that the unmanned ship is hijacked or illegally invaded can be obtained, and then the safety warning signal and the safety protection command signal output by the unmanned ship control host are in the high level position of the analog signal or are non-0 digital signals (or are different from the digital signals representing the non-emergency situation) and are used for starting corresponding data self-destruction protection measures.
Further, if the unmanned ship is not in the state of preparation for voyage, personnel transfer and standby, in the process of hijacking or judging illegal invasion risk of the unmanned ship, analyzing and comparing the unmanned ship positioning information and the route planning information in the navigation information, if the positions of the unmanned ship at different moments deviate from the track point positions in the route planning at corresponding moments by more than a certain threshold (the threshold can be selected from 1-100 meters according to the tonnage of the unmanned ship and different navigation control and self positioning capability), and the deviation of the actual positioning and planning track positions exceeds the threshold for a certain time, wherein the time exceeds a certain threshold (the threshold value can be selected from 5-30 minutes according to the unmanned ship size and the route busy characteristic of an operation water area), judging whether the hijacking or illegal invasion risk exists or not by further combining the environment sensing information. Further, if there is a water surface carrier which does not belong to the own side or the friend side of the unmanned ship in the targets around the unmanned ship in the environment sensing information, the distance between the water surface carrier which does not belong to the own side or the friend side of the unmanned ship and the unmanned ship is not longer than a certain distance range (the value can be taken between 20 meters and 200 meters), and the duration is longer than a certain threshold (the value can be taken between 10 minutes and 60 minutes), the emergency that the unmanned ship is hijacked or illegally invaded can be obtained, and then the safety warning signal and the safety protection command signal output by the unmanned ship control host are at the high level position of the analog signal or are digital signals which are not 0 (or are different from the digital signals representing the non-emergency) and are used for starting corresponding data self-destruction protection measures.
Claims (10)
1. The unmanned ship safety protection sensing system is characterized by comprising navigation equipment, photoelectric detection equipment and an unmanned ship control host machine which are arranged at a ship end, wherein:
the navigation equipment provides navigation information required by safety protection perception judgment for the unmanned ship control host;
the photoelectric detection equipment provides environment perception information required by safety protection perception judgment for the unmanned ship control host;
the unmanned ship control host judges whether the unmanned ship is hijacked or not and the risk of data information leakage according to navigation information, environment perception information, recorded task state information and route planning information of the current unmanned ship by adopting a safety protection perception judging method, and finally outputs a safety alarm signal and a safety protection instruction signal, wherein the safety protection instruction signal is sent to a data self-destruction device configured by the unmanned ship control host in the form of an electric signal and is used for starting corresponding data self-destruction protection measures.
2. The unmanned ship safety protection sensing system according to claim 1, wherein the navigation information comprises real-time positioning information, navigational speed information and heading information of the unmanned ship; the environment perception information comprises video image information of the circumference of the unmanned ship, the category of surrounding targets, the distance between the surrounding targets and the current unmanned ship and the azimuth of the surrounding targets relative to the current unmanned ship.
3. An unmanned ship safety protection sensing system according to claim 1, wherein the navigation device is a satellite navigation device or an inertial navigation device.
4. An unmanned ship safety protection sensing system according to claim 1, wherein the photoelectric detection device has a pitch and azimuth servo control mechanism and is provided with a visible light sensor, an infrared sensor and a laser ranging device.
Or the photoelectric detection equipment is a plurality of visible light and infrared detection equipment distributed outside the unmanned ship cabin;
or the photoelectric detection equipment is panoramic vision equipment which is arranged at a peripheral no-line shielding position on the unmanned ship, is integrated by a plurality of visible light and infrared detection sensor modules and has a detection view field with the peripheral direction not lower than 300 degrees.
5. The unmanned ship safety protection sensing system according to claim 4, wherein the plurality of visible light and infrared detection devices can detect the visual field to cover the range of not less than 300 degrees in the horizontal circumference of the unmanned ship.
6. The unmanned ship safety protection perception system of claim 1, wherein the task state information comprises an out-of-flight ready state, an out-of-flight state, an in-operation state, a standby state, a back-of-flight state, a personnel transfer state, wherein: the navigational preparation state is that the unmanned ship performs state inspection at the starting point, and the unmanned ship is laid into water from a shore base or a mother ship, or the unmanned ship navigates out of the cabin from the inside of the mother ship cabin; the sailing state is a state that the unmanned ship sails from the starting point to the target task area and does not reach the target task area yet; the state in the operation is a state that the unmanned ship starts to execute a specific operation task in a task area and the operation task is not completed yet; the standby state is a state that the unmanned ship has completed the last operation task and has not received a return instruction or the next operation task; the return state is a state that the unmanned ship receives a return instruction to navigate to a starting point after finishing an operation task in a task area; the personnel transfer state is suitable for unmanned boats which can be operated by people and are controlled by unmanned persons independently, the unmanned boats are provided with cabs, and personnel of a user of the unmanned boat approach and climb on the current unmanned boat through other water surface vehicles in the personnel transfer state.
7. The unmanned ship safety protection perception system of claim 1, wherein the routing information is chronological track point information which is planned by the unmanned ship control host according to a routing algorithm under different task states.
8. The unmanned ship safety protection sensing system according to claim 1, wherein the unmanned ship task state information is obtained by judging by an unmanned ship control host according to a task scheme and a control instruction issued by a unmanned ship remote control end.
9. The unmanned ship safety protection sensing judgment method is characterized by being applied to the unmanned ship safety protection sensing system in claim 1, and comprises the following steps:
step 1, acquiring task state information of a current unmanned ship by an unmanned ship control host computer: if the unmanned ship is in a voyage preparation state or a personnel transfer state, the safety warning signal and the safety protection instruction signal are placed in a characterization non-emergency situation; if the unmanned ship is not in the sailing preparation state and the personnel transfer state, entering a step 2;
step 2, judging whether the unmanned ship is in a standby state, if not, entering a step 4, and if so, entering a step 3;
step 3, the unmanned ship control host acquires environment sensing information and judges based on the environment sensing information: if a water surface carrier which does not belong to the own side or the friend side of the unmanned ship exists in the targets around the unmanned ship, the distance between the water surface carrier which does not belong to the own side or the friend side of the unmanned ship and the current unmanned ship continuously does not exceed a preset distance range, the duration exceeds a preset time threshold, the unmanned ship is at risk of being hijacked or illegally invaded, a safety alarm signal and a safety protection instruction signal are placed in a characterization emergency situation and used for starting corresponding data self-destruction protection measures, and otherwise, the safety alarm signal and the safety protection instruction signal are placed in a characterization non-emergency situation; if no water surface carrier which does not belong to the own side or the friend side of the unmanned ship exists in the targets around the unmanned ship, the safety warning signal and the safety protection instruction signal are placed in the characterization non-emergency;
and 4, analyzing and comparing the unmanned ship positioning information and the route planning information in the navigation information by the unmanned ship, and placing the safety warning signal and the safety protection instruction signal on the basis of the comparison result to represent non-emergency or emergency.
10. The method of claim 9, wherein in step 4, if the deviation between the positions of the unmanned aerial vehicle at different times and the track points in the route planning information at corresponding times exceeds a certain distance threshold, and the deviation between the actual positions and the planned track positions exceeds the distance threshold for a duration exceeding a time threshold, returning to step 3, further combining the environment sensing information to determine whether the hijacking risk or the illegal intrusion risk exists, otherwise, placing the safety warning signal and the safety protection instruction signal in the characteristic non-emergency.
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