无人船自主航行目标方位测量技术研究

Target Position Measurement Technology of Unmanned Surface Vehicle in Autonomous Sailing

为了解决无人船(USV)自主航行时目标定位定姿问题,提出一种船载光电吊舱的目标方位测量方法。利用光电成像系统识别跟踪目标,激光测距机获取目标与USV间的距离,并将GPS/INS组合导航系统固联在光电吊舱同一水平面。通过上述传感器组件输出信息与坐标转换相结合,推导出目标从载体坐标系到WGS-84大地坐标系的定位方程;并根据目标位置解算出目标的速度、姿态信息。采用系统模拟航行实验,验证了该方法的有效性,并分析了各参数的均方根误差。实验结果表明,在1 km测距范围内,目标位置测量精度为5 m,姿态测量精度为0.3°,可满足实际应用需求。

In order to solve the problem of target positioning and attitude determination during the autonomous sailing of unmanned surface vehicle(USV),a target position measurement method is proposed for shipboard optoelectronic pods.An optoelectronic imaging system is used to identify the tracking target,a laser rangefinder is used to obtain the distance between the target and the USV;and a combined GPS/INS navigation system is fixed to the same level of the optoelectronic pod.By combining the output information of the above sensor components with the coordinate conversion,the positioning equation of the target from the carrier coordinate system to the WGS-84 geodetic coordinate system is derived;and the velocity and attitude information of the target is solved according to the target position.The effectiveness of the method is verified by using systematic simulated navigation experiments;and the root mean square error of each parameter is analyzed.The experimental results show that the target position measurement accuracy is 5 m and attitude measurement accuracy is0.3°in the range of 1 km,which can meet the practical application requirements.