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Unmanned ship water quality detection work path dual-radar accurate positioning method

A technology for water quality testing and unmanned ships, applied in radio wave measurement systems, radio wave reflection/re-radiation, measurement devices, etc., can solve problems such as inability to meet high-precision positioning

Active Publication Date: 2018-05-15
NANTONG UNIVERSITY
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Problems solved by technology

Generally speaking, the positioning accuracy of GPS for civilian use is 3 meters, which cannot meet the high-precision positioning of the path of aquaculture water quality testing operations
On the other hand, the millimeter-wave frequency-modulated continuous-wave single radar with a fixed antenna point can only measure the one-dimensional distance and radial velocity information of the target, and the positioning of the unmanned ship requires two millimeter-wave frequency-modulated continuous wave radars according to a certain geometric relationship. simultaneous observation

Method used

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  • Unmanned ship water quality detection work path dual-radar accurate positioning method
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  • Unmanned ship water quality detection work path dual-radar accurate positioning method

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Embodiment 1

[0070] figure 1 It is a schematic flow chart of the unmanned ship operation path positioning method in this embodiment, combined below figure 1 , will describe in detail the precise positioning process of the unmanned ship's operating path in this embodiment.

[0071] First, according to the actual physical size of the fish farm and its geographical distribution characteristics, a north-south rectangle is used to optimize the matching and fitting of the fish farm. The east-west center point and the north-south center point of the rectangle are the observation points of the dual millimeter wave FM continuous wave radar, see figure 2 . In this embodiment, the distance and radial velocity data output by the radar are acquired and collected in real time through the serial port protocol.

[0072] Secondly, use equations (1)-(5) to establish the observation equations for the position state of the unmanned ship and the mutual sharing of dual radar information.

[0073] Finally, ...

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Abstract

The invention relates to a an unmanned ship water quality detection work path dual-radar accurate positioning method comprising the steps that step 1) the geometrical position of the radar observationpoint is set and the distance and radial speed data of the unmanned ship are acquired in real time through dual radar; step 2) an observation equation of unmanned ship position state and dual-radar information sharing is established; and step 3) the unmanned ship movement trajectories of dual-radar information sharing are recursively solved based on the idea of ensemble Kalman filter, and the unmanned ship water quality detection work path is accurately positioned. The beneficial effects are that high-accuracy positioning of the unmanned ship water quality detection work path can be realized.

Description

technical field [0001] The invention relates to the field of radar target positioning, in particular to a dual-radar precise positioning method for an unmanned ship's water quality detection operation path. Background technique [0002] In the process of aquaculture production, the quality of water has a decisive effect on fishery output. Traditional water quality testing uses manual methods, which is inefficient and does not have a wide sampling area. At present, the use of unmanned ships to conduct large-scale cruise sampling of water quality in aquaculture waters can greatly improve the efficiency of water quality detection and provide real-time decision-making basis for fishery production. The operation path positioning of the unmanned ship plays an important supporting role in the process of water quality detection of the unmanned ship. Therefore, the positioning of the operating path of the unmanned ship is of great significance. [0003] Currently, there is mainly ...

Claims

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Application Information

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IPC IPC(8): G01S13/87G01S13/58
CPCG01S13/58G01S13/87
Inventor 张加龙刘宪瑞施佺许致火施佳佳陈海龙孙玲张成宇包银鑫
Owner NANTONG UNIVERSITY
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