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Method and system for positioning and navigating riverway ship driving

A technology for positioning, navigation, and ships. It is used in navigation, navigation through speed/acceleration measurement, mapping and navigation, etc., to achieve the effect of small hardware size, convenient application, and easy-to-understand platform.

Pending Publication Date: 2021-08-06
苏州市卫航智能技术有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

So based on this status quo, unmanned ships will be more challenging to navigate in narrow waterways than in open waters

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  • Method and system for positioning and navigating riverway ship driving
  • Method and system for positioning and navigating riverway ship driving
  • Method and system for positioning and navigating riverway ship driving

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Embodiment Construction

[0025] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0026] like Figure 1-Figure 4 As shown, a method for simultaneous positioning and map building of river ships is disclosed; the method is the following steps:

[0027] Step 1: After the ship starts to start, start to acquire sensor group information, and preprocess the sensor group information;

[0028] Step 2: The front-end odometer uses the data sent by the sensor group in real time to estimate the pose information of the sensor group at that moment through the adjacent point cloud data, image information, etc., and we use the NDT algorithm to achieve point cloud matching. Fusion with inertial measurement unit 4 to reduce cumulative error;

[0029] Step 3: Considering that the front-end visual odometer can give a short-term trajectory and map...

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Abstract

The invention discloses a method for simultaneously positioning and establishing a map for a ship in a riverway, which comprises the following steps that: a front-end odometer estimates pose information data of a sensor group at the moment through data sent by the sensor group in real time and through adjacent point cloud data and image information; and the pose information data transmitted by the front-end odometer is sent to a pre-constructed rear end to obtain a global consistent track and map. According to the method, shipborne sensors are installed on the ship, autonomous positioning and mapping of the ship on the narrow river channel can be achieved, hardware needed by the scheme is small in size, light in weight and convenient to apply, and a platform is simple and easy to understand and suitable for expansion after follow-up improvement.

Description

technical field [0001] The invention relates to a method and system for positioning and navigating a river vessel, and belongs to the technical field of unmanned driving of ships. Background technique [0002] In the past few decades, great progress has been made in the areas of localization, target detection, path planning and tracking control for autonomous navigation of river vessels. However, current underwater drones are usually developed for open waters, and the control effect of these methods will be greatly reduced in narrow and congested urban water environments. Ships today typically use GPS and an inertial measurement unit (fused by an Extended Kalman Filter (EKF) or Unscented Kalman Filter (UKF)) to achieve positioning, which typically yields meter-level accuracy. These GPS-IMG-based methods can be unstable in urban waterways, where GPS signals are often severely attenuated. Based on this status quo, unmanned ships will be more challenging to navigate in narrow...

Claims

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Application Information

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IPC IPC(8): G01S17/93G01S17/89G01S17/86G01S11/12G01C21/16G01C22/00
CPCG01S17/93G01S17/89G01S17/86G01S11/12G01C21/165G01C22/00
Inventor 吴炜付勇
Owner 苏州市卫航智能技术有限公司
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