Obstacle detection error correction and safety collision prevention method of unmanned surface vehicle

Abstract

The invention relates to an obstacle detection error correction and safety collision prevention method of an unmanned surface vehicle. A collision prevention model is built from a safety angle, a marine collision prevention rule is followed, an error model of information such as obstacle position and speed which are detected by an unmanned surface vehicle carried radar according to a soft processing mode, a probable zone of each information error is given out, so that calculation is performed according to the corrected obstacle position and speed information after collision judgment, a collision judgment result of the detection error is finally considered, and an uncertainty potential risk brought by the detection error is eliminated. Whether collision is generated or not is judged by bringing the error model to a collision prevention algorithm, and whether collision prevention of the unmanned surface vehicle conforms to the marine collision prevention rule or not by dimension reduction processing and according to an included angle range. An automatic collision prevention method built by the invention conforms to an international marine collision prevention rule, and the flight safety during the automatic collision prevention process of the unmanned surface vehicle is improved.

Description

technical field [0001] The invention relates to the field of collision avoidance of unmanned surface boats, in particular to an obstacle detection error correction and safety collision avoidance method of unmanned surface boats. Background technique [0002] The unmanned surface vehicle, referred to as the unmanned vehicle, is a light intelligent surface vehicle, which has the characteristics of small size, low cost, fast speed and strong maneuverability. With the advancement of control technology, perception technology, and wireless communication technology, unmanned boats have achieved great development. By carrying different equipment, the unmanned boat can be used in different fields. For example, when equipped with sonar equipment such as single beam, multi-beam, and shallow bottom profiler, it can be used for seabed mapping, mine detection and anti-submarine, etc.; when equipped with water quality sampling Or when testing equipment, it can be used for environmental de...

AI Technical Summary

Problems solved by technology

[0003] Unmanned boats may encounter obstacles such as islands, reefs, lighthouses, buoys, and sailing ships during navigation. To ensure that unmanned boats can navigate normally and safely in the ocean, unmanned boats must be able to avoid these obstacles autonomously. At the same time, the structural characteristics and motion rules of the unmanned vehicle must also be considered, and the collision avoidance strategy adopted must follow the International Regulations for Avoiding Collisions at Sea; The information of surface targets sensed by advanced sensors is often not very accurate, and there are certain errors, which bring unexpected dangers and difficulties to the safe collision avoidance and navigation of unmanned boats.

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