Unmanned ship laser radar point cloud data correction method based on attitude sensor and GNSS

Abstract

The invention discloses an unmanned ship laser radar point cloud data correction method based on an attitude sensor and GNSS. The method comprises the following steps: S1, acquiring original data of laser radar point cloud; S2, performing angle interpolation on the laser radar point cloud data; S3, enabling the laser radar to obtain GNSS data in real time, calculating the transmitting time of eachpoint cloud data, and acquiring unmanned ship position information of each point cloud data; S4, acquiring attitude information, measured by an attitude sensor, of the unmanned ship; S5, according tothe attitude information of the unmanned ship measured by the attitude sensor, correcting the laser radar supplementary complete point cloud data. According to the invention, angle interpolation processing is carried out on the laser radar to improve the scanning resolution; a GNSS is accessed, a timestamp is added to each laser of the laser radar, and position information of each point cloud data is recorded; the attitude sensor corrects the laser radar point cloud data in real time, and reduces the error of laser radar target recognition and tracking.

Description

technical field [0001] The invention relates to a laser radar point cloud data correction method, in particular to an unmanned ship laser radar point cloud data correction method based on an attitude sensor and GNSS. Background technique [0002] Unmanned Surface Vessel (USV) has the characteristics of high automation and intelligence. It is an important development direction for future ship development and water transportation. It has bright application prospects in military, transportation, surveying and other fields. [0003] Lidar has the advantages of high ranging accuracy and good real-time performance, and compared with cameras, it is less affected by the rain and fog environment. Lidar is suitable for short-range environment perception and can meet the needs of unmanned ships in complex environments. Especially in the autonomous navigation of inland rivers and offshore complex environments, there is a need for rapid and accurate perception of the surrounding navigati...

AI Technical Summary

Problems solved by technology

[0004] In complex environments, especially in offshore application scenarios, water currents, waves, etc. will cause roll and pitch of the hull, which will cause errors in the original lidar ranging, rotation angle and other information, which will seriously affect the accuracy of target recognition. Accuracy

Especially in harsh sea conditions, the information reliability of lidar to identify obstacles and targets will be greatly reduced

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