Unmanned ship real-time speed measurement method and system based on twin data driving

Abstract

The invention belongs to the technical field of unmanned ship measurement, and discloses an unmanned ship real-time speed measurement method and system based on twinning data driving, and the method comprises the steps: according to the position and posture sensor arrangement position of an entity unmanned ship, sensor time sequence data and the spatial data of an unmanned ship virtual twinning body three-dimensional model, performing cross-domain and space-time fusion in real time to obtain real-time pose twin data information expressing any position point of the unmanned ship. based on the real-time twinning data information, measuring the motion state of any position point of the physical unmanned ship in real time, or calibrating the measurement information of at least one set of posesensor. The invention provides a real-time, cross-domain and space-time fusion method for real unmanned ship sensor time sequence data and information space virtual twinning body three-dimensional model space data of different physical space arrangement positions and different measuring range ranges. Observation and reliable estimation of the attitude of any measuring point of the unmanned ship byutilizing virtual-real fusion and multi-sensor data complementation are achieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned boat measurement, and in particular relates to a real-time speed measurement method and system for unmanned boats driven by twin data. Background technique [0002] At present, small unmanned boats are affected by various factors such as wind, waves, and currents during navigation, and will produce six-degree-of-freedom motions, including translation in three directions and rotation in three directions. Among them, the rotation in three directions is the rotation motion of the unmanned boat around its own rotation center, and the attitude change of the unmanned boat is thus generated. Usually, a small unmanned boat can be regarded as a rigid body, and the speed of any point on the hull is the vector sum of the translational velocity and the linear velocity of the rotational motion. Because the distance between different positions of the hull and the center of rotation is not equal, the actual sea...

AI Technical Summary

Problems solved by technology

[0007] (1) In the absence of physical position and attitude sensors arranged at the local target position, the existing technology cannot solve the problem of real-time attitude measurement and state perception of the local position of the unmanned vehicle

[0008] (2) In the traditional measurement method of installing physical sensors at the target position, the limited number of sensors will be difficult to meet the needs of various mission scenarios, and the expansion of physical sensors will significantly increase the complexity and cost of the sensing system, which cannot meet the requirements of complex tasks. task requirements

[0010] The method of real-time, cross-domain, spatio-temporal fusion of the time series data of the physical pose sensor and the geometric space data of the 3D model is still immature

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