Measurement method of relative position of two ships based on laser range finder

Abstract

The purpose of the invention is to provide a laser range finder-based method for determining a relative position between two boats. The method comprises the following steps that: a laser range finder is installed on a rescue boat; when the rescue boat approaches in parallel a rescued boat, the laser range finder is installed in the middle of the left and right gunnels of the rescue boat and scansan angular bisector of an open angle, wherein the angular bisector is perpendicular to a central axis of the rescue boat; and when a stern of the rescue boat approaches the rescued boat, the laser range finder is installed on a gunnel of the stern of the rescue boat and scans an angular bisector of an open angle, wherein the angular bisector is superposed on a central axis of the rescue boat; data of all azimuthal angles are real-time measured by the laser range finder and the data is processed by eliminating gross errors; median filtering processing is carried out on the data that has been processed by eliminating the gross errors by utilizing a quicksort method; and a relative position between the rescue boat and the rescued boat is obtained by employing sine and cosine theorems. According to the invention, a laser range finder, which is utilized as a measuring sensor, has advantages of high precision, good real-time performance and large measuring range, so that a measured result can meet a tracking requirement.

Description

technical field [0001] The invention relates to a relative position determination method. Background technique [0002] In the process of sea rescue, it has become an urgent requirement to realize the tracking of the rescue ship to the rescued ship. At present, there is no ship tracking technology that can be practically applied in China, and there are almost no papers published in this area. Wang Zhong, a graduate student of Harbin Engineering University, proposed the concept of tracking control for dynamic positioning of relatively floating ships in his master's thesis "Research on Tracking Control Method for Dynamic Positioning of Relatively Floating Ships". In this paper, the positioning ship is required to track a target ship floating freely on the sea surface, so that the two ships always maintain a relatively fixed position and heading. However, its article focuses on the control part and the thrust part, but does not mention the measurement method of the relative p...

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Problems solved by technology

However, the bottleneck of infrared imaging technology lies in its inability to detect ship targets at close range.

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