Non-powered ship track automatic following device and method

The invention relates to the field of ship automatic navigation control, in particular to a non-powered ship track automatic following device and method. A tugboat and a non-powered ship are connectedthrough a tow rope, and a control device is installed on each ship. The tugboat control device comprises a main control module, a satellite navigation module, a communication module and a man-machineinteraction module, the main control module is used for module control and data processing, the satellite navigation module is used for tugboat position data acquisition, the communication module isused for data transmission with a non-powered boat, and the man-machine interaction module is used for checking the navigation position and state of the non-powered boat, and setting manual control orautomatic control. The non-powered ship control device comprises a main control module, a satellite navigation module, a communication module and a sensor module, the main control module is used fornon-powered ship navigation c