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Unmanned ship sea surface target tracking method and device based on multi-sensor fusion

A multi-sensor fusion and target tracking technology, applied in the field of unmanned boat sea surface target tracking based on multi-sensor fusion, can solve the problems of low measurement accuracy, unavailability, and inability to ensure safety, to enhance safety and improve accuracy. , low cost effect

Pending Publication Date: 2021-11-23
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Generally, the short-range sensing information on unmanned boats is for subsequent emergency obstacle avoidance, and more accurate sensing information is required to obtain better performance decisions, but the information obtained by single-sensor devices has its own advantages and disadvantages: such as laser Although radar has high measurement accuracy, it cannot be used in rainy or foggy days. Therefore, when the perception information obtained by lidar alone is used for emergency obstacle avoidance, safety cannot be guaranteed; millimeter-wave radar can be used in low-vision scenes, but Measurement accuracy is not high

Method used

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  • Unmanned ship sea surface target tracking method and device based on multi-sensor fusion
  • Unmanned ship sea surface target tracking method and device based on multi-sensor fusion
  • Unmanned ship sea surface target tracking method and device based on multi-sensor fusion

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Embodiment 1

[0058] In order to solve the above problems, this embodiment provides an unmanned surface target tracking method based on the fusion of laser radar and millimeter wave radar, which mainly solves the impact of harsh environments such as rain and fog on the perception results, and builds a sensor installation platform, using four A millimeter-wave radar and a lidar solve the problem of inconsistent horizontal viewing angles of different sensors. The detection information fused by multiple sensors is used as input, and then the detected target is tracked to obtain more accurate target information, so as to achieve stable and accurate detection and tracking of targets around the unmanned vehicle.

[0059] In order to realize the above functions, the technical solution adopted in this embodiment is as follows:

[0060] Step 1: Multi-sensor installation.

[0061] Install one lidar and four millimeter-wave radars in a fixed position, and set up network communication so that the shor...

Embodiment 2

[0095] like Figure 4 As shown, the present embodiment provides a method for tracking an unmanned surface target based on multi-sensor fusion, including:

[0096] Step 100: Obtain the original point cloud data collected by the lidar.

[0097] Step 200: Obtain the original millimeter wave data collected by the millimeter wave radar; wherein, both the laser radar and the millimeter wave radar are located on the unmanned boat.

[0098] Step 300: Perform fusion processing on the original point cloud data and the original millimeter wave data to obtain fused target information.

[0099]Step 400: Track the target on the sea based on the fused target information.

[0100] Wherein, step 300 specifically includes:

[0101] The original point cloud data is preprocessed to obtain the position information of the first target in the hull coordinate system; the first target is the target detected by the laser radar.

[0102] judging whether the original millimeter wave data contains tar...

Embodiment 3

[0109] like Figure 5 As shown, this embodiment provides a multi-sensor fusion-based sea surface target tracking device for unmanned boats, including: a laser radar, a millimeter-wave radar and an industrial computer installed on the unmanned boat.

[0110] The lidar is used to collect raw point cloud data.

[0111] The millimeter wave radar is used to collect original millimeter wave data.

[0112] The industrial computer includes:

[0113] The laser radar data detection module is used to obtain the original point cloud data collected by the laser radar.

[0114] The millimeter-wave radar data detection module is used to obtain the original millimeter-wave data collected by the millimeter-wave radar.

[0115] A data fusion module, configured to perform fusion processing on the original point cloud data and the original millimeter wave data to obtain fused target information.

[0116] A tracking module, configured to track targets on the sea based on the fused target infor...

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Abstract

The invention discloses an unmanned ship sea surface target tracking method and device based on multi-sensor fusion, and relates to the technical field of unmanned ship target tracking, and the method comprises the steps: obtaining original point cloud data collected by a laser radar; acquiring original millimeter wave data acquired by the millimeter wave radar; performing fusion processing on the original point cloud data and the original millimeter wave data to obtain fused target information; and tracking the target on the sea surface based on the fused target information. Target tracking is carried out based on the original point cloud data collected by the laser radar and the original millimeter wave data collected by the millimeter wave radar, that is, target tracking is carried out in a mode of combining the millimeter wave radar and the laser radar, the adaptive scene of the unmanned ship sensing system is expanded, the precision of obtained target information is improved, and the sailing safety of the unmanned ship on the sea is enhanced.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicle target tracking, in particular to a multi-sensor fusion-based method and device for unmanned vehicle target tracking on the sea surface. Background technique [0002] With the rapid development of autonomous driving technology, after unmanned aerial vehicles and unmanned vehicles, unmanned boats have also attracted more and more attention, playing an irreplaceable role in many fields. Among them, unmanned boats can be used for sea rescue, underwater archaeology, chart survey, water pollution detection, etc. for civilian use; unmanned boats can be used for anti-submarine, mine detection, and even directly participate in combat in military use. [0003] The unmanned boat obtains the surrounding environment information through the sensor equipment, provides data for the decision-making algorithm, and finally executes the decision through the executive agency, so as to realize the behavior co...

Claims

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Application Information

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IPC IPC(8): G01S13/72G01S13/86G01S17/66
CPCG01S13/726G01S13/865G01S17/66
Inventor 周洋王庆立瞿栋彭艳谢少荣蒲华燕罗均
Owner SHANGHAI UNIV
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