Millimeter-wave radar-based tracking and obstacle avoidance system for unmanned ship

Abstract

The invention discloses a millimeter-wave radar-based tracking and obstacle avoidance system for an unmanned ship. The system comprises the unmanned ship, and millimeter-wave radars, a satellite positioning system, an inertial navigation system and a main control computer arranged on the unmanned ship, wherein the millimeter-wave radars are uniformly mounted around the unmanned ship, and measure position, speed and acceleration information of environments on the front side, the back side, the left side and the right side of the unmanned ship relative to the unmanned ship; the satellite positioning system and the inertial navigation system detect the position, speed and acceleration information; and the satellite positioning system, the inertial navigation system and the millimeter-wave radar are connected with the main control computer through cables. The system is novel in concept, accurate in detection, high in reliability, low in cost and simple in algorithm, and is very suitable for autonomous motion of small unmanned equipment subjected to unmanned operation.

Description

technical field [0001] The present invention relates to the technical field of unmanned boats, in particular to an environment perception system applied to unmanned boats, in particular to a millimeter-wave radar-based tracking and obstacle avoidance system. Background technique [0002] In the prior art, during the actual use of the unmanned boat, its perception of the surrounding environment is a technical difficulty. The environment perception of the existing unmanned boats mostly adopts lidar scanning or visual detection to complete the perception of the surrounding environment by the unmanned boat, realize the modeling of the surrounding environment by the unmanned boat, and further complete tracking and obstacle avoidance, etc. action. These two methods have their own advantages, but the disadvantages are equally obvious: (1) The laser radar scanning method is not far enough to scan the sea surface environment, and the laser radar with fewer wire harnesses cannot meet...

AI Technical Summary

Problems solved by technology

These two methods have their own advantages, but the disadvantages are equally obvious: (1) The laser radar scanning method is not far enough to scan the sea surface environment, and the laser radar with fewer wire harnesses cannot meet the accuracy requirements at all when used. Lidar with more wire harnesses has good scanning accuracy, but the price is very expensive. The price of a 40-line radar on the market generally costs more than 300,000. At the same time, with the increase of wire harnesses, the amount of information collected by the radar is large, which will bring Another problem is that processing huge point cloud data requires a powerful processing platform. Some simple scenes will bring millions of data, which is very inefficient to process and difficult to meet the practical requirements; (2) Visual inspection The way is to use a relatively low-priced camera for detection. Its detection distance is relatively long, but it is seriously affected by the environment. It cannot work normally when the light is insufficient or the light is too strong. In addition, visual detection is used to detect motion. When it comes to objects, the detection accuracy is very low, the error is large, and it is difficult to achieve accurate tracking, and the visual detection is often affected by sea waves when image segmentation is performed, and the separation of small moving hulls and stationary objects is poor.

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