Efficient cleaning of floating waste using an intelligent unmanned surface vehicle is an important development trend in inland water governance. Path planning is the core of the decision-making module for unmanned surface vehicle waste cleaning and is key to achieving autonomous operation of the unmanned surface vehicle. However, due to the complexity and dynamic changes of the water surface environment, unmanned surface vehicle path planning methods for floating waste face challenges such as small size, uncertainty, and uneven distribution of floating waste. In response to the above issues, this article studies the problem of insufficient integration and low efficiency between existing path planning algorithms and target-perception modules, and designs an efficient overall path planning method for floating-waste cleaning by an unmanned surface vehicle. This method transforms the path planning problem of floating-waste cleaning unmanned surface vehicle into a Traveling Salesman Problem by setting global patrol points and tracking local targets, and proposes an improved ant colony algorithm, IACO, to solve the Traveling Salesman Problem. This article is based on the TSPLIB dataset and practical applications for experiments. The experimental results show that the proposed method has average optimal path lengths of 75.930 m, 446.555 m, and 703.759 m on the Ulysses22, eil51, and st70 datasets, respectively, which are reduced by 0.355 m, 4.108 m, and 13.575 m compared to the benchmark.

In this paper, a frequency discrimination method using a multiplicative-integral and linear transformation network is proposed. In this method, two preset differential frequency signals and frequency modulation signals are transformed by multiplication and integration, and then the instantaneous frequency parameters of the frequency modulation signal are accurately analyzed by the linear transformation network to restore the original modulation signal. Compared with the phase discriminator, the simulation results show that this method has a higher frequency discrimination bandwidth. In addition, this method has better anti-noise performance, and the frequency discrimination distortion caused by noise with a different Signal-to-Noise Ratio is reduced by 33.80% on average compared with the phase discriminator. What is more, the carrier center frequency error has little influence on the frequency discrimination quality of this method, which solves the problem that most common frequency discriminators are seriously affected by the carrier center frequency error. This method requires a low accuracy of carrier center frequency, which makes it extremely suitable for digital frequency discrimination technology and can meet the needs of various frequency discrimination occasions.