摘要
针对水面无人艇应用于岛岸地形构建的感知问题,本文提出一种基于4G宽频雷达和激光雷达的感知融合算法。该算法基于移动最小二乘优化4G宽频雷达感知数据,采用多线程并行机制实现时间同步,同时改进多级滤波算法,减少海杂波、噪声、悬空点等对激光雷达感知数据的影响;提出新的融合方法实现2种雷达感知数据的融合处理,从而得到准确的岛岸感知结果。通过实际的水面感知试验,融合后岛岸感知精度得到了大幅提升,较融合前感知精度提升了至少60%。
Aiming at the perception problem of unmanned surface vehicles used in island-shore terrain construction,this paper proposes a perception fusion algorithm based on broadband 4G radar and lidar.The algorithm uses mobile least squares to optimize Broadband 4G radar sensing data,and adopts a multi-threaded concurrency mechanism to achieve time synchronization.Meanwhile,the improved filtering algorithm reduces the impact of sea clutter,noise,and floating points on the Lidar sensing data.A new fusion method is proposed to achieve the fusion processing of the two kinds of radar sensing data,so as to obtain accurate island-shore sensing results.Through actual water surface sensing experiments,the island-shore sensing accuracy after the fusion has been greatly improved,which is at least 60%higher than that before the fusion.
作者
侯壮
李德隆
冯亮
林扬
宋吉广
刘阳
汤哲
HOU Zhuang;LI De-long;FENG Liang;LIN Yang;SONG Ji-guang;LIU Yang;TANG Zhe(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 110049,China)
出处
《舰船科学技术》
北大核心
2022年第14期137-142,共6页
Ship Science and Technology
基金
中国科学院关键人才资助项目。
