Fault diagnosis method and system for actuator of unmanned surface vehicle

The invention belongs to the technical field of unmanned surface vehicle fault information diagnosis, and discloses a water surface unmanned surface vehicle actuator fault diagnosis method and system. Acquiring and storing a plurality of state parameter data of an actuator of the unmanned surface vehicle and a plurality of attitude parameter data of the unmanned surface vehicle; preprocessing the data according to a data preprocessing method of frequency band judgment and signal gray scale matching; the data is analyzed through a trained improved depth residual shrinkage network, whether the unmanned surface vehicle actuator breaks down or not is judged, a related control instruction is sent to the actuator fault protection module, and after the actuator fault protection module receives the control instruction, the connection between the unmanned surface vehicle master controller and the unmanned surface vehicle actuator is disconnected. According to the method, the bandwidth pressure of the system can be eff