AUTONOMOUS CONTROL METHOD AND DEVICE OF SAILBOAT AND SAILBOAT

摘要

An autonomous control method and device of a sailboat, and sailboat, the method comprising: setting at least one waypoint; acquiring navigation information of a sailboat, and setting a next waypoint from the location of the sailboat as a target waypoint; determining a desired course vector according to a relative orientation of the sailboat to the target waypoint, and a real wind direction; controlling a state of a sail (2) of the sailboat according to relative wind direction information; according to the current course of the sailboat and the desired course vector, controlling a rudder angle to reach or follow a desired course; determining whether the sailboat has reached the target waypoint, and if so, then determining whether the target waypoint is a navigation destination, and if so, then finishing the navigation. In the sailboat autonomous navigation process, a set of overall sailboat autonomous navigation control methods is provided, thus systematically achieving autonomous sailboat control by dividing course regions, calculating a desired course vector, controlling a rudder angle, an open area and adjustment angle of the sail (2), auxiliary propelling of a propeller (5), and the like.