Objectives Propose a multi-source observation-based recovery bucket guidance docking strategy for reliable observation of recovery and realization of unmanned surface vessel (USV) motion goal tracking.

Methods During the entire docking process, first avoid the interference zone of the mother ship's wake to complete the rough alignment of the USV route; then maintain the heading tracking guidance line to prepare for adjustments for the terminal docking recovery; finally, filter and fuse the data obtained by the visual sensor and inertial navigation sensor to calculate the recovery guidance line, which is then transmitted to the USV. The USV completes the tracking of the terminal guidance line and the docking recovery task through its own guidance and control. Simultaneously design a USV docking recovery system based on visual and integrated navigation fusion, independently design the hardware and software of the real boat, and conduct field lake tests to verify the feasibility of the system design and docking strategy.

Results The experimental results show that the success rate of the USV in performing autonomous docking tasks reaches 91.6%. The proposed docking strategy can meet the high-precision docking and recovery requirements of the USV.

Conclusions The research conducted can provide critical technical support for USV recovery.