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

A millimeter wave radar, unmanned boat technology, used in radio wave measurement systems, radio wave reflection/re-radiation, satellite radio beacon positioning systems, etc. problem, to achieve the effect of high detection reliability, improved accuracy, and reduced complexity

Active Publication Date: 2018-12-18
SHANGHAI UNIV +1
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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 milli

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  • Millimeter-wave radar-based tracking and obstacle avoidance system for unmanned ship
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[0019] The following further describes the present invention with reference to the accompanying drawings of the specification and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0020] See figure 1 with 2 The unmanned boat shown is based on millimeter wave radar tracking and obstacle avoidance system, including unmanned boat 1 and millimeter wave radar 3 set on the unmanned boat, satellite positioning system 2, inertial navigation system, main control computer, among which, The millimeter-wave radar is evenly installed around the unmanned boat to detect the position, speed and acceleration information of the environment in front, rear and left and right sides of the unmanned boat 1 relative to the unmanned boat. The satellite positioning system 2 includes a receiving antenna and a processor. The receiving antenna is installed on the highest deck of the unmanned boat, the processor is installed in the unmanned boat, the re...

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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...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01S13/93G01C21/16G01S19/47G05D1/02
CPCG01C21/165G01C21/203G01S13/937G01S19/47G05D1/0206
Inventor 黄承义张志萌徐小欢彭艳罗均
Owner SHANGHAI UNIV
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