A vision-based method and system for unmanned marine antenna detection and navigation

An antenna detection and navigation method technology, applied in the directions of surveying, mapping and navigation, navigation, navigation calculation tools, etc., can solve the problems of incomplete sea antenna, difficulty, and easy interference of sea antenna detection.

Active Publication Date: 2020-06-09
航天时代(青岛)海洋装备科技发展有限公司
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Problems solved by technology

However, USV sea antenna detection is a very challenging problem
Due to the influence of factors such as the complex marine environment background, changes in sunlight, and sea surface waves, the sea antenna is easily disturbed during the detection process. Antenna detection increases the difficulty

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  • A vision-based method and system for unmanned marine antenna detection and navigation
  • A vision-based method and system for unmanned marine antenna detection and navigation
  • A vision-based method and system for unmanned marine antenna detection and navigation

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Embodiment Construction

[0071] In order to make the objectives, technical solutions and advantages of the present invention clearer, the common embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0072] refer to figure 1 , showing a flow chart of the steps of a vision-based method for detecting and navigating the sea antenna of an unmanned ship in an embodiment of the present invention. In this embodiment, the vision-based method for detecting and navigating sea antennas for unmanned ships includes:

[0073] Step 101 , perform line segment extraction on the image collected by the USV vision system, and establish a line segment pool.

[0074] In this embodiment, the image collected by the USV vision system can be parsed, all line segments in the image collected by the USV vision system can be detected, and the line segment pool is constructed based on all the detected line segments.

[0075] Preferably, a feasible way to estab...

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Abstract

The invention discloses a method and system for sea-sky-line detection and navigation via an USV based on vision. The method comprises the following steps: extracting all the line segments in an imageby using a line segment detection algorithm, building a line segment pool, then with the morphological characteristics of a sea-sky-line as constraint conditions, filtering out non-sea-sky-line segments in the line segment pool so as to obtain candidate sea-sky-line segments; estimating optimal sea-sky-line results by using a least square method so as to obtain detection results of the candidatesea-sky-line segments; and based on the detection results of the candidate sea-sky-line segments, resolving the parameters of USV navigation on the basis of a photography model of the sea-sky-line. Thus, the method and system provided by the invention can effectively detect the sea-sky-line via the USV and accurately calculate the attitude navigation parameters of the USV.

Description

technical field [0001] The invention belongs to the technical field of marine navigation, and in particular relates to a vision-based method for detecting and navigating the sea antenna of an unmanned ship. Background technique [0002] With the rapid development of unmanned systems and artificial intelligence technologies, after unmanned aerial vehicles and unmanned vehicles, Unmanned Surface Vehicles (USVs) are becoming more and more popular in the military and civilian fields. It plays an important role in various marine applications such as environmental monitoring, 3D mapping and enemy reconnaissance. [0003] Precise and autonomous navigation system is one of the core technologies of USV, which is essential to ensure that USV can complete various maritime tasks without human intervention. Usually, USV needs to be equipped with different navigation sensors, including Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), compass, visual camera, et...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 胡常青付立郑春雷李清洲朱玮杨义勇
Owner 航天时代(青岛)海洋装备科技发展有限公司
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