Unmanned ship near-shore navigation mapping stable observation identification and shoreline constraint method

By constructing the unmanned vessel state vector and observation disturbance index, calculating the stable observation confidence, adjusting the point cloud matching information, and using shoreline soft constraints and global navigation satellite system residuals for joint optimization, the problem of unstable navigation and mapping of unmanned vessels in nearshore waters is solved, the stability of observation screening and shoreline structure continuity are improved, and a reliable navigation and mapping foundation is provided.

CN122448231APending Publication Date: 2026-07-24SHANDONG UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SHANDONG UNIV OF SCI & TECH
Filing Date
2026-06-25
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

The navigation and mapping of unmanned surface vessels in nearshore waters suffers from instability and low accuracy due to dynamic disturbances on the water surface, attitude disturbances, and lack of shoreline constraints.

Method used

By constructing the state vector of the unmanned vessel, the neighborhood geometric features and semantic labels of the laser points are obtained. The nearshore observation disturbance index and semantic and geometric consistency scores are calculated. Map units are divided and temporal stability scores are calculated. Stable observation confidence is constructed. The point cloud matching information matrix is ​​adjusted. Joint optimization is performed using shoreline soft constraints and global navigation satellite system residuals to trigger a conservative mapping strategy and form a stable observation confidence layer and a shoreline structure layer, providing reliable basic data for subsequent navigation mapping.

Benefits of technology

It improves the stability of observation and screening of unmanned surface vessels in complex nearshore waters, reduces the impact of water surface reflection, wave trails and foam echoes on static structure maps, enhances the continuity of shoreline structure and the stability of unmanned surface vessel pose estimation, and provides a reliable basis for navigation and mapping.

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Abstract

The application discloses a shore navigation mapping stable observation identification and coastline constraint method, belongs to the technical field of unmanned ship autonomous navigation and mapping, is used for unmanned ship shore navigation mapping, and comprises the following steps: constructing an unmanned ship state vector, constructing a water surface adjacent geometric feature; acquiring a semantic label of a laser point; constructing a shore observation disturbance index based on a disturbance index, calculating a semantic and geometric consistency score, and calculating a time sequence stability score; constructing a stable observation confidence, classifying observations based on the stable observation confidence; constructing a target function, setting a conservative mapping strategy trigger condition; and constructing basic data for subsequent navigation mapping. Through deep fusion of stable observation identification and coastline constraint, the application effectively suppresses the influence of water surface unstable observation and attitude disturbance, and significantly improves the stability, precision and robustness of unmanned ship navigation mapping in a complex shore environment.
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