Method for estimating visual gestureattitudes of moving target for underwater vehicle

Abstract

The invention provides a method for estimating visual gestureattitudes of a moving target for an underwater vehicle. The method comprises the following steps of according to a mathematics model of theunderwater vehicle, enabling sensors (such as a Doppler velocimeter and a bearing and gestureattitude measuring system) to measure the linear speed, angular speed and angle of the underwater vehicleunder a carrier system, so as to obtain state information; obtaining a plurality of known feature points on the moving target, and transforming coordinate systems on the basis of a kinematics model ofthe underwater vehicle, so as to obtain the positions of the feature points of the global system under the image system, thereby obtaining the measuring information; estimating the relative positiondifference distance and moving gestureattitude of the underwater vehicle and the center of the target object by an unscented Kalman filter algorithm. Compared with the geometric method, the method hasthe advantages that the limitation of the layout of feature points requiring to meet the special conditions in the geometric method is overcome; the relative position difference distance and moving gestureattitude of the underwater vehicle and the center of the target object can be accurately estimated.

Description

technical field [0001] The present invention relates to the technical field of underwater vehicle vision, in particular to a method for estimating the visual pose of a moving target for an underwater vehicle. The pose estimation method of the linear Kalman filter estimates the pose parameters of the moving target below it. Background technique [0002] The ocean is a huge wealth for human beings, and it contains huge resources, but the detection of the ocean is still a huge challenge, especially the deep sea and distant sea exploration. The development of underwater sensor technology also greatly drives the development of underwater vehicle technology. [0003] For a long time, people have been committed to the research of underwater acoustic positioning technology, and have achieved good research results in the long-distance target positioning and navigation of underwater vehicles. The stability and accuracy in distance measurement still need to be further improved. In o...

AI Technical Summary

Problems solved by technology

However, in the process of solving the algorithm, there are problems such as multiple solutions and poor robustness. In order to obtain a unique solution, the arrangement of feature points must meet certain conditions, which also limits the scope of its use. At the same time, it is impossible to obtain information such as the speed of the target, resulting in This method cannot be widely used in the control of underwater vehicles in actual use

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