Unmanned surface vehicle environment sensing method based on single-line laser radar

Abstract

The invention relates to the technical field of unmanned surface vehicle environment sensing, in particular to an unmanned surface vehicle environment sensing method based on a single-line laser radar. For the near-distance obstacle avoidance requirement of a small-sized high-speed unmanned surface vehicle during autonomous sailing, invalid echoes of the water surface are filtered according to thepoint cloud reflection intensity in the detection step; DBSCAN clustering parameters are adjusted according to an obstacle distance; inter-frame data matching is performed by adopting a nearest neighbor data correlation method in the tracking step; motion state estimation is performed by using interactive multiple models under a linear Kalman filter framework; and a noise covariance matrix methodis adaptively adjusted according to the maneuverability of targets so as to enhance the adaptability of a filter. According to the method, the detection and tracking within a 40-meter range can be well completed in a low-sea condition scene; the laser radar almost does not cause leak detection in an environment free of wind waves and where the unmanned surface vehicle stably runs; the clusteringerror rate is relatively low in the point cloud clustering and target correlation problems; and the inter-frame targets can be well matched.

Description

technical field [0001] The invention relates to the technical field of unmanned boat environment perception, in particular to an unmanned boat environment perception method based on a single-line laser radar. Background technique [0002] As a surface platform that can independently complete navigation, obstacle avoidance and task execution, unmanned boats can be equipped with different sensors and equipment to complete different mission functions. A major trend in the development of human boats. Due to the small operating radius and high speed of small unmanned boats, the detection and tracking technology of short-distance moving targets is particularly important, which is directly related to its operational safety and the effectiveness of task execution. [0003] The sensors used for water surface environment perception carried by unmanned boats can be divided into two categories: radar and vision sensors. For the short-distance environment perception of small unmanned b...

AI Technical Summary

Problems solved by technology

For the short-distance environment perception of small unmanned boats, marine radar has the following defects: marine radar is large, and the space of small unmanned boats is limited, so it is difficult to install; the resolution is limited, and it can only obtain the two-dimensional position information of the target, which is not effective. Although some existing marine radars use FMCW technology to solve the detection blind spot problem of traditional pulse radars, the detection effect on short-distance small targets and maneuvering targets is not ideal; the scanning frequency is low, and the current application Take the widest Simrad 4G radar as an example, the maximum speed of its antenna is 48 rpm, which obviously cannot meet the needs of unmanned boats sailing at relatively high speeds in small-scale scenarios. Therefore, in view of the above status quo, there is an urgent need Develop a single-line lidar-based method for unmanned vehicle environment perception to overcome the shortcomings in current practical applications

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