Global repositioning method of water surface robot based on millimeter wave radar

Abstract

The invention discloses a global repositioning method of a water surface robot based on a millimeter-wave radar. The method comprises the following steps: acquiring a current positioning coordinate C and speed of the water surface robot and a current environment millimeter-wave radar point cloud; acquiring nearby sensor data according to C to form a query database G; performing data preprocessing on the millimeter wave radar point clouds in G to obtain a current environment radar point cloud and an environment millimeter wave radar point cloud; inputting the information into an environment feature coding model to respectively obtain a corresponding feature code f and a feature code; and retrieving the most similar feature code from the corresponding feature codes, and obtaining a corresponding positioning coordinate from the feature code as a position identification coordinate of the positioning.

Description

technical field [0001] The invention relates to the technical field of robotics, and more particularly to a global relocation method of a surface robot based on a millimeter-wave radar. Background technique [0002] In recent years, with the rapid development of unmanned technology, the unmanned market has continued to grow. Taking unmanned ships as an example, various surface robots have been gradually promoted to water quality testing, water surface maintenance, bridge testing, water body mapping, maritime search and rescue, etc. In a variety of work scenarios, assist people to work. Positioning is an important part of unmanned driving technology. When the positioning accuracy is low, it is difficult for the robot to obtain its own accurate position, and it cannot accurately reach the designated position and complete the designated task. At present, the global localization algorithm used in the localization of surface robots usually uses lidar data or visual image data to...

AI Technical Summary

Problems solved by technology

Positioning is an important part of unmanned driving technology. When the positioning accuracy is low, it is difficult for the robot to obtain its own accurate position, and it is impossible to accurately reach the specified position and complete the specified task.

At present, the global positioning algorithm used in the positioning of water surface robots usually uses lidar data or visual image data to manually design feature descriptor algorithms, and then completes global positioning through feature matching and prior map regression. However, due to the lack of texture information in lidar data , while the visual information lacks three-dimensional geometric information, and the hand-designed descriptor algorithm leads to low final positioning accuracy

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