Sensing system for unmanned platform

A technology of unmanned platform and perception system, which is applied in the field of perception system of unmanned platform, can solve the problems such as the inability to realize real-time navigation switching and connection, and achieve the effect of accurate data and accurate positioning results

Active Publication Date: 2019-04-26
COMP APPL TECH INST OF CHINA NORTH IND GRP
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

In the field of unmanned vehicles or unmanned aerial vehicles, most of them use global satellite navigation systems, which can only realize navigation and path planning in open outdoor areas, complete outdoor autonomous navigation, and then complete some simple flight tasks
Or it can only realize the independent positioning of the indoor environment, but in the process of switching between indoor and outdoor environments, it is impossible to realize the switching of real-time navigation and realize the navigation and positioning in any environment

Method used

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  • Sensing system for unmanned platform
  • Sensing system for unmanned platform
  • Sensing system for unmanned platform

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Embodiment Construction

[0036] The present invention will be described in further detail below through specific embodiments and in conjunction with the accompanying drawings.

[0037] An unmanned platform perception system in an embodiment of the present invention is applied to equipment such as unmanned aerial vehicles or unmanned vehicles, including: laser sensors, laser algorithm modules, visual sensors, visual algorithm modules, fusion positioning modules, and satellite positioning modules , Indoor and outdoor switching navigation algorithm module and environment map construction algorithm module.

[0038]The laser sensor emits laser light to obtain laser data and detect obstacles. A great advantage of laser sensors is that they do not require rich information about the surrounding environment. Establish a real-time submap by using the correlation between each laser scanning frame (scan) to realize real-time position estimation of the laser sensor; use the coordinate transformation relationship ...

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Abstract

The invention discloses a sensing system for an unmanned platform. The sensing system comprises a laser sensor for acquiring laser data and detecting an obstacle, a laser algorithm module comprising afirst front-end position estimation module and a first back-end position estimation module, a visual sensor for acquiring image data, a visual algorithm module comprising a second front-end positionestimation module and a second back-end position estimation module, a fusion positioning module for acquiring the position and speed of the unmanned platform in an indoor environment, a satellite positioning module for acquiring the position and speed of the unmanned platform in an outdoor environment, an indoor and outdoor switching navigation algorithm module for conducting switched selection ofdifferent positioning methods and transmitting the real-time position and speed of the positioned unmanned platform to the unmanned platform, and an environmental map establishment algorithm module for establishing a map, extracting obstacle information with the map and sending the obstacle information to the unmanned platform. The sensing system has the advantage of realizing autonomous positioning in the indoor and outdoor environments and in the indoor and outdoor environment switching process.

Description

technical field [0001] The invention relates to the technical field of unmanned equipment, in particular to a perception system of an unmanned platform. Background technique [0002] At present, there is no single positioning technology that can meet people's requirements for indoor and outdoor all-round services. Although the global satellite navigation system is sufficient to provide mature positioning services in open outdoor areas, there are still many limitations and deficiencies in relying solely on the global satellite navigation system in outdoor sheltered environments. In recent years, indoor positioning has developed rapidly, and even some positioning solutions have begun commercial applications. However, indoor positioning is developed independently, and there is a congenital gap with the outdoor global satellite navigation system. It has become the focus of indoor and outdoor positioning technology research. One of the development trends of future positioning ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01C25/00G01S19/47
CPCG01C21/165G01C21/20G01C25/005G01S19/47
Inventor 赵小川刘培志胡雄文徐凯宋刚刘华鹏
Owner COMP APPL TECH INST OF CHINA NORTH IND GRP
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