Seamless situation awareness method for real-time fusion of unmanned ship-borne multi-element and multi-scale radar
A technology for situational awareness and unmanned boats, applied in the field of unmanned boat perception, to achieve the effect of improving the inaccuracy of dynamic perception information
Pending Publication Date: 2022-08-09
DALIAN MARITIME UNIVERSITY
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Problems solved by technology
In summary, if the unmanned boat only uses a single sensor for environmental perception, there will be certain defects, which will bring great problems to the autonomous navigation of the unmanned boat
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[0021] In order to make the technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention:
[0022] like figure 1 A seamless situational awareness method for real-time fusion of multi-scale and multi-scale radars on unmanned boats is shown, which specifically includes the following steps:
[0023] S11: Select radars of different bands as long-range early warning and prediction marine radars and medium-range perception marine radars according to the range. The long-range early warning and prediction radar has a wide range; the medium-range perception marine radar has high precision and is more stable; the lidar can perceive the short-range environment in all directions. The schematic diagram of the joint sensing area is as follows figure 2 shown.
[0024] In terms of ...
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The invention discloses a seamless situation awareness method for real-time fusion of multi-element and multi-scale radars carried by an unmanned ship. The seamless situation awareness method comprises the following steps: acquiring marine radar images of a remote early warning prediction radar and a medium-range sensing marine radar and a medium-range sensing radar image of the medium-range sensing marine radar; respectively carrying out corrosion operation on the two images and filling empty points in the images, carrying out scaling on the medium-range perception marine radar image by adopting affine transformation, and carrying out pixel-level matching fusion and information extraction processing on the remote early warning prediction marine radar image and the medium-range perception marine radar image by adopting a scale normalization method; three-dimensional point cloud data of the laser radar are obtained, information extraction and rasterization processing are performed on the point cloud data to obtain a raster map, and image fusion is performed on the fusion image of the remote early warning prediction marine radar and the medium-range perception marine radar and the raster map by using a region growing method to obtain a multivariate fusion image.
Description
technical field [0001] The invention relates to the field of unmanned boat perception, in particular to a seamless situational awareness method for real-time fusion of multi-scale multi-scale radars onboard an unmanned boat. Background technique [0002] In the process of autonomous navigation of unmanned surface vehicles, it is particularly important to obtain a wide range, high real-time and accurate perception information. At this stage, the detection of marine dynamic targets by unmanned boats is generally only carried out by a single navigation radar. However, due to the limitation between the range and accuracy, the range of the range is large, and the marine radar with a long measurement distance will sacrifice in terms of accuracy and stability, and it is easy to cause the loss of the target and there is a blind spot at close range; the marine radar with high measurement accuracy is generally The range is too small, and it takes a certain amount of time to switch th...
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IPC IPC(8): G01S13/86G01S13/937G01S17/86G01S17/93G06V10/10G06V10/26G06V10/44G06V10/52G06V10/762G06V10/80
CPCG01S13/865G01S13/937G01S17/86G01S17/93G06V10/803G06V10/763G06V10/44G06V10/52G06V10/267G06V10/16Y02A90/10
Inventor 范云生陈思张灏岩
Owner DALIAN MARITIME UNIVERSITY