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.
CN107941220BActive 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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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
航天时代(青岛)海洋装备科技发展有限公司
Publication Date
2020-06-09

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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.
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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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