Target recognition and tracking system for unmanned ship and working method thereof

Abstract

The invention discloses a target recognition and tracking system for an unmanned ship and a working method thereof. The system comprises a data acquisition unit, a sensing unit, a data processing unitand a main control unit; the data acquisition unit comprises a 3D laser radar, a transmitting transducer, a pair of hydrophones and an integrated navigation system, the sensing unit includes a 3D laser radar and two wide-angle cameras; the data processing unit is a quad-core industrial control computer, and the main control unit uses an STM32F4 processor and is in communication with a shore-basedupper computer through a wireless data transmission and image transmission module. The 3D laser radar and the vector hydrophone are adopted to scan obstacles on the water surface and below the watersurface, the industrial control computer analyzes the water surface obstacle position, and the hydrophone processor determines the position of the underwater obstacles. According to the position of the acquired obstacle, the industrial control computer adopts an obstacle avoidance algorithm to perform obstacle avoidance of the obstacles, the unmanned ship can avoid obstacles on and below the watersurface, and the goal of operation in water areas with complex underwater conditions is achieved.

Description

technical field [0001] The invention belongs to the field of unmanned ships, and in particular relates to an unmanned ship target recognition and tracking system and a working method thereof. Background technique [0002] As a low-risk autonomous operation product, unmanned ships are widely used in various aspects such as military production. It provides great convenience and avoids the risks brought by high-risk tasks. However, when dealing with complex underwater environments, surface laser obstacle avoidance cannot avoid underwater obstacles. For unmanned ship operations, it not only limits the working environment of unmanned ships but also increases the risk in the operation. For different sea surface operation tasks, the functions of unmanned ships are relatively single, and they lack a certain ability of independent judgment. , increasing the difficulty of the work. Contents of the invention [0003] In order to solve the above-mentioned problems existing in the p...

AI Technical Summary

Problems solved by technology

However, when dealing with complex underwater environments, surface laser obstacle avoidance cannot avoid underwater obstacles. For unmanned ship operations, it not only limits the working environment of unmanned ships but also increases the risks in the operation. For different sea surface operation tasks, the functions of unmanned ships are relatively single, and they lack certain independent judgment capabilities. For example, when the unmanned ships are far away from the shore base, they are invisible to the human eye, and the unmanned ships cannot recognize and judge specific targets on the sea surface. , increasing the difficulty of the work

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