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Unmanned ship navigation method based on millimeter wave radar

A millimeter-wave radar and navigation method technology, applied in the field of unmanned boat navigation, can solve the problems of not considering the stability of the ship's course change and the return of the course, the lidar is easily affected by the weather, and the safety of the course is reduced. It is beneficial to radar perception and lateral avoidance, improves practical value, and improves the effect of safety

Pending Publication Date: 2022-02-15
四方智能(武汉)控制技术有限公司 +1
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Problems solved by technology

The application of this method cannot cope with the sudden appearance of obstacles, such as dynamic obstacles or defects in radar acquisition and processing; in addition, it does not consider the stability of the ship's course change and the return of the route, and because there is no secondary detection process, it leads to the selection of Reduced safety of course
In addition, lidar is easily affected by weather, and the high cost also limits the application of this method.

Method used

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  • Unmanned ship navigation method based on millimeter wave radar

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Embodiment Construction

[0029] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0030] Such as figure 1 Shown, the unmanned boat navigation method based on millimeter wave radar of the present invention comprises the following steps:

[0031] S1. Radar point cloud data processing: Use the millimeter-wave radar to perceive obstacles around the unmanned boat, cluster and denoise the returned obstacle points, and publish relatively stable obstacle list data;

[0032] Specifically, the returned obstacle points are aggregated through reasonable clustering parameters to calculate the cluster center of the obstacle points, and filter out the information of far clutter points to obtain the relative coordinates relative to the radar coordinate system, and then pass The acquired hull coordinate information ...

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Abstract

The invention relates to an unmanned ship navigation method based on a millimeter-wave radar, and the method comprises the following steps: S1, radar point cloud data processing: sensing obstacles around an unmanned ship through the millimeter-wave radar, and issuing relatively stable obstacle list data; S2, local map real-time updating: subscribing the obstacle list and putting the obstacle list into an obstacle database to form a stable local map; s3, transverse path planning: subscribing positioning and attitude data, a local map and a local target waypoint, and calculating a safe and feasible path within prediction time by performing continuous two-time sampling evaluation of safety margin on a heading space; s4, longitudinal speed planning: subscribing positioning and attitude data, and using a nonlinear smooth function to give a safe navigational speed within prediction time; and S5, track tracking: issuing the calculated target waypoint and target navigational speed to a control unit for track tracking. The method has the advantages of being real-time, effective, universal, practical, stable and safe.

Description

technical field [0001] The invention relates to the technical field of unmanned boat navigation, and more specifically, relates to a method for unmanned boat navigation based on millimeter wave radar. Background technique [0002] The application of unmanned boats in water quality monitoring, water surveying and mapping, security rescue and shipping is becoming more and more common and urgent. However, the environment in which unmanned boats operate is often complex and diverse, including buoys, aerators, small islands, large and medium-sized floating objects, bridge holes, and passing ships. Therefore, unmanned boats need effective navigation methods to ensure that the platform is completed At the same time as user tasks, maximize the security and stability of the platform. [0003] In the existing navigation methods, the cost of lidar is too high, and the visual solution is easily affected by external lighting; millimeter-wave radar avoids these shortcomings, and the spar...

Claims

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Application Information

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IPC IPC(8): G01S13/937
CPCG01S13/937
Inventor 向伦凯周毅张呈叶艳军
Owner 四方智能(武汉)控制技术有限公司
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