Laser radar and navigation radar target fusion method

Abstract

The invention discloses a laser radar and navigation radar target fusion method. The method comprises the following steps: S1, converting three-dimensional point cloud data of a laser radar into two-dimensional image data; s2, according to the two-dimensional image data of the laser radar, extracting, tracking and track distribution of a laser radar target are carried out through a radar tracker; and S3, the track fusion engine obtains the laser radar target track output by the radar tracker, combines the navigation radar target track to carry out track fusion, and generates a fusion target and track information of the fusion target. According to the laser radar and navigation radar target fusion method provided by the invention, the point cloud data of the laser radar is converted into the three-dimensional target of the geographic space, the three-dimensional target is converted into the two-dimensional target, and fusion with the two-dimensional target detected by the navigation radar is realized through the fusion engine. And data support is provided for accurate detection and judgment of complex traffic states.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a laser radar and navigation radar target fusion method. Background technique [0002] To achieve autonomous navigation, unmanned boats are inseparable from obstacle detection, route planning, and collision avoidance operations. Among them, the obstacle detection means include lidar, navigation radar, optical camera, AIS receiver and so on. Unlike the manned shipboard navigation and collision avoidance system, the judgment of obstacles and the operation of collision avoidance are not finally confirmed by humans. [0003] Merchant ships can work in the state of automatic driving in the vast ocean because the density of ships in the ocean is extremely low, the water depth far exceeds the draft of the ship, and there is a lot of room for adjustment in its route planning. The probability of error is close to zero, which is lower than that of manual decision-making. Therefore, mercha...

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Problems solved by technology

[0004] However, in the channel where the port is in and out or where ships are densely populated, the ship density is high, the traffic situation changes rapidly, and the safety contour range is small. This complex situation leads to a much higher error probability of machine decision-making than manual decision-making.

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