Underwater Bessel light visual guidance method

Abstract

The invention discloses an underwater Bessel light visual guidance method. The method comprises the following steps: selecting a Bessel lens according to a marker lamp target template; enabling gaussian beams in the Bessel marker lamp to present line segment beams after passing through the Bessel lens; after the plurality of Bessel marker lamps are lightened, enabling the light beam of each Besselmarker lamp to form a line segment, and the plurality of light beam line segments form a marker lamp modal diagram; in the autonomous recovery process of the unmanned underwater vehicle, enabling animage processing module in the underwater camera to perform image processing on the obtained underwater Bessel marker lamp modal diagram to extract line segment light beams, and coordinates of featurepoints under camera coordinates are obtained; obtaining coordinate and attitude information of a camera coordinate system under the dock coordinate system; and giving three-dimensional space coordinates and attitude information of the unmanned underwater vehicle under the dock coordinate system. The method is good in adaptability and high in flexibility, miniaturization of a marker lamp mechanical structure can be achieved, accurate extraction of marker lamp light beam characteristic line segments is achieved, and the positioning precision is improved.

Description

technical field [0001] The invention relates to the technical field of underwater optics, in particular to an underwater Bessel light vision guidance method. Background technique [0002] Autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) uses various sensors and other mission modules to perform underwater tasks, and uses its own energy equipment, navigation equipment and actuators to perform autonomous navigation, autonomous decision-making and autonomous The controlled underwater robot is widely used in marine scientific research, marine engineering operations, and national defense and military fields. However, the time of AUV's underwater operation is largely limited by the energy it carries. When the AUV completes a certain task, it usually needs to be recovered to the surface support platform in order to replenish energy, recover data and download new missions. . When working on the deep seabed, the deployment and recovery of AUVs will take a long time...

AI Technical Summary

Problems solved by technology

[0006] (1) It is difficult to extract the centroid of the sign light: In the optical vision guidance, the high-precision pose calculation requires the precise extraction of the center position of the sign light. In the traditional light guidance process, LEDs with large divergence angles are generally used. As an ideal circular sign light, the light spot centroid of the sign light in the image captured by the camera is extracted as its feature point. However, due to the influence of water and environmental noise, it is difficult for the sign light to form an ideal circular light spot, which leads to the extraction of the centroid of the sign light. Inaccurate, thus affecting the positioning accuracy;

[0007] (2) The large number of marker lights is limited by the mechanical size and the miniaturization of the docking station device: LED marker lights with a large divergence angle can only extract the coordinate position of the lights through the centroid of the light spot, and at least 4 marker lights are required, which are scattered in 1m On a docking station with a diameter of ~3m, the relative position information between lights is used to achieve optical vision positioning. If the diameter of the docking station is reduced, the light spots of multiple marker lights are difficult to separate and easily overlap, and the marker lights cannot be effectively extracted, which severely limits Application of this technology in AUV autonomous recovery

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