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Target characteristic parameter measuring device and method

A technology for parameter measurement and target characteristics, which is applied in measuring devices, radio wave measurement systems, and navigation through speed/acceleration measurement, etc., to achieve the effects of long sensing distance, little influence by the environment, and high sensing accuracy

Pending Publication Date: 2021-05-04
CHANGCHUN UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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  • Target characteristic parameter measuring device and method
  • Target characteristic parameter measuring device and method

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Embodiment 1

[0025] Infrared camera 1, visible light camera 2, laser rangefinder 3, azimuth turntable 4, pitch turntable 5, carrier 6, second GPS antenna 7, GPS / INS combined system 8, first GPS antenna 9, main control computer 10 , the second optical communication module 11 , the first optical communication module 12 , and the GPS differential station 13 . Such as figure 1 Placement shown.

[0026] The pitch turntable 5 is installed on the carrier body 6; the azimuth turntable 4 is installed on the pitch turntable 5; the laser range finder 3 is installed on the azimuth turntable 4; the visible light camera 2 is installed on the laser range finder 3; the infrared camera 1 is installed on the On the visible light camera 1; the second GPS antenna (7), the GPS / INS combined system 8, the first GPS antenna 9, the main control computer 10, and the second optical communication module are sequentially installed on the carrier 6; the GPS differential station 13 is installed On the first optical co...

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Abstract

The invention provides a target characteristic parameter measuring device and method. The method includes: performing image fusion on a target image obtained by an infrared camera and a target image obtained by a visible light camera to complete target identification and tracking; combining a distance value of a target obtained by a laser range finder, an azimuth angle value and a pitch angle value of the target relative to an initial zero position obtained by an azimuth turntable and a pitch turntable, and a carrier position and an attitude angle value obtained by a GPS / INS combination system together, and calculating absolute position information of the target by applying a coordinate transformation matrix, and carrying out data processing on the real-time position of a moving target to obtain the speed and attitude characteristic parameters of the target. According to the method, continuous tracking of a dynamic / static target can be completed, the position coordinates of the static target, the position coordinates of the dynamic target, the speed, the course angle, the pitch angle and other information values can be given, the requirement for target characteristic parameter measurement in the field of unmanned ship automatic driving is met, and the method has wide application prospects.

Description

technical field [0001] The invention relates to a target characteristic parameter measuring device and method, belonging to the field of unmanned ship automatic driving. Background technique [0002] An unmanned ship is an intelligent surface platform that has autonomous obstacle avoidance, planning, and autonomous navigation capabilities, and can independently complete tasks such as environmental perception, target identification, and positioning. When the unmanned ship is navigating autonomously, the unmanned ship needs to be equipped with corresponding sensor modules, such as laser radar, satellite navigation system and photoelectric sensor, to realize the perception of the surrounding environment on the route, so as to reasonably plan the route and monitor the surrounding targets. monitoring etc. When the unmanned ship travels on the water surface, affected by the environmental characteristics of the water surface, the effect of lidar on environmental perception is not ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01C21/00G01S19/45G01S19/47
CPCG01C21/165G01C21/203G01C21/005G01S19/45G01S19/47
Inventor 常帅宋延嵩赵馨
Owner CHANGCHUN UNIV OF SCI & TECH
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