Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Unmanned ship false target detection method based on three-dimensional laser radar

A three-dimensional laser and target detection technology, applied in the field of obstacle target recognition, can solve problems affecting the normal navigation of unmanned boats, and achieve the effect of improving accuracy

Active Publication Date: 2018-09-21
WUHAN UNIV
View PDF9 Cites 17 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If these false targets are not detected, the unmanned boat will regard the navigable area as an unnavigable area, which will affect the normal navigation of the unmanned boat

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Unmanned ship false target detection method based on three-dimensional laser radar
  • Unmanned ship false target detection method based on three-dimensional laser radar
  • Unmanned ship false target detection method based on three-dimensional laser radar

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0033] The present invention will be further described below in conjunction with specific embodiments and accompanying drawings.

[0034] An embodiment of the present invention provides a three-dimensional lidar-based false target detection method for unmanned boats. False targets are specifically obstacles such as ship wakes, plankton, and floating garbage that do not affect the navigation of the unmanned boat. Such as figure 2 As shown, the embodiment process is as follows:

[0035] (1) Use 3D laser radar, differential GNSS receiver, and attitude angle sensor to support the detection of target obstacles on unmanned vehicles:

[0036] During the specific implementation, the three-dimensional laser radar is installed horizontally on the top of the unmanned boat to ensure that the laser beam is not blocked by the hull when the lidar scans; the attitude sensor is installed to obtain the attitude data of the unmanned boat in real time.

[0037] In the embodiment, the schematic...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides an unmanned ship false target detection method based on a three-dimensional laser radar. The method is characterized by taking an obstacle target, which does not influence sailing of an unmanned ship, as a false target, and comprises the following steps: mounting the three-dimensional laser radar, a differential GNSS receiver and an attitude angle sensor onto the unmanned ship; carrying out pretreatment on the three-dimensional laser radar data, and carrying out laser point cloud correction based on unmanned ship real-time attitude angle data obtained by the attitude angle sensor and real-time self motion status data obtained by the differential GNSS receiver; and carrying out false target detection through the three-dimensional laser radar, which comprises the substeps of carrying out grid segmentation to obtain an obstacle target, carrying out multiple-feature extraction and with each feature serving as an evidence to determine the target type, establishing a target type identification framework, and judging the false target according to credibility of each focal element. The method, by utilizing the high-reliability three-dimensional laser radar, takes andconsiders the three-dimensional laser radar false target as the detection target separately, so that the unmanned ship is not influenced by the false target when avoiding the obstacle, and accuracy of target detection is improved.

Description

technical field [0001] The invention belongs to the field of obstacle target recognition, and at the same time relates to information processing of three-dimensional laser radar, in particular to a method for detecting false targets of unmanned boats based on three-dimensional laser radar. Background technique [0002] The automatic obstacle avoidance of unmanned boats is a key technical problem to realize the intelligentization of ships. As an active measurement sensor, lidar has strong environmental adaptability and high ranging accuracy, and can provide accurate and reliable environmental obstacle information for unmanned vehicles under complex conditions. The lidar used for obstacle avoidance can generally be divided into two-dimensional lidar and three-dimensional lidar. The 3D lidar scanning can obtain the distance and angle values ​​of multiple plane points at the same time, and has a large field of view in the vertical direction. When the unmanned boat shakes, it ca...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01S17/93
CPCG01S17/93
Inventor 柳晨光毛庆洲吴安磊刘荣荣闫保芳
Owner WUHAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com