Real time perception obstacle evading system and method for unmanned hydrographical survey ship obstacles
An obstacle and surveying ship technology, which is applied in the field of real-time obstacle avoidance system for unmanned channel surveying ships, can solve the problems of large manpower and material resources, personal safety, low work efficiency, etc., achieve safe and smooth work, reduce use costs, improve The effect of safety factor and work efficiency
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[0030] The present invention will be further described below in conjunction with specific examples and drawings.
[0031] The invention provides a real-time obstacle avoidance system for an unmanned waterway measuring ship obstacle, which includes:
[0032] The ship positioning unit is used for real-time positioning of the ship and obtaining real-time coordinates of the ship. In this embodiment, GPS and inertial navigation system are used.
[0033] Environmental perception unit, such as figure 2 As shown, it is used to sense obstacle information within a certain range using at least two kinds of environmental sensing sensors, data fusion of obstacle information detected by each environmental sensing sensor, target matching and superimposition of the detection overlap area, and combining with real-time ship Coordinates, generate an obstacle map, take the detected obstacle position as the center, and set a circular area with a certain radius as the obstacle influence area that cannot...
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