Unmanned ship bridge crossing control method and device, electronic equipment and storage medium

Abstract

The invention discloses an unmanned ship bridge crossing control method and device, electronic equipment and a storage medium. The unmanned ship bridge crossing control method comprises the steps: obtaining a bridge crossing control angle through calculation according to longitude and latitude of a bridge crossing starting point and a bridge crossing ending point obtained from a rear-end database; based on the current latitude and longitude of the unmanned ship, the course angle and the latitude and longitude of the bridge-crossing starting point, controlling the unmanned ship to travel to the bridge crossing starting point; adjusting the direction of the unmanned ship to enable the unmanned ship to coincide with the gap bridge control angle, then controlling the unmanned ship to drive into the bridge, and dynamically adjusting the course angle of the unmanned ship to enable the course angle to coincide with the gap bridge control angle when the unmanned ship passes through the bridge; calculating the current position information of the unmanned ship by adopting an inertial navigation algorithm based on the inertial data and the longitude and latitude of the unmanned ship before entering the bridge; based on the satellite signal data and the current position information of the unmanned ship, judging whether bridge crossing of the unmanned ship is finished or not, and if the satellite signal data and / or the current position information of the unmanned ship meet preset conditions, judging that bridge crossing of the unmanned ship is finished.

Description

technical field [0001] The invention relates to the technical field of unmanned ship control, in particular to a control method, device, electronic equipment and storage medium for unmanned ship crossing a bridge. Background technique [0002] In recent years, with the rapid development of intelligent technology, the degree of intelligence of autonomous driving of unmanned ships has been paid attention to, and unmanned ships of various types and purposes have been widely used. The autonomous navigation of unmanned ships is the embodiment of intelligence, mainly relying on satellite positioning and navigation. However, in practical applications, there are bridges across the water in many waters. Under the bridge, the positioning signal of the unmanned ship will be affected by occlusion. When the positioning signal is weak, it is difficult for the unmanned ship to control. How to drive autonomously even when the positioning signal is weak is a technical difficulty in the fiel...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a control method, device, electronic equipment and storage medium for unmanned ships crossing bridges, so as to solve the problems caused by weak positioning signals of unmanned ships in the prior art when the unmanned ships are driving under the bridge. Unmanageable technical issues

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