Global path planning method based on navigation channel information

The invention provides a global path planning method based on navigation channel information, and the method comprises the steps: obtaining a navigation starting position based on an electronic chart,and determining a destination position; acquiring inbound channel information and outbound channel information of the harbor district; comprehensively judging whether the starting position and the destination position are in the harbor district or not; judging whether the destination position is located in the harbor area or not, if yes, matching the harbor entering channel information of the harbor area where the destination position is located to obtain a first channel set, continuing to judge whether the starting position is located in the harbor area or not, and if not, directly judging whether the starting position is located in the harbor area or not. According to a judgment result, path planning is carried out by sections according to conditions, and then a global path planning route is obtained through sp