激光雷达和单目视觉船舶智能导航系统

Ship intelligent navigation system based on lidar and monocular vision

以为船舶提供定位服务、障碍物检测和避障航迹规划服务为目的,设计基于激光雷达和单目视觉的船舶智能导航系统。系统船载子系统中,由卫星信号接收机接收卫星信号,定位船舶位置后,障碍物检测单元使用单目视觉传感器、激光雷达,检测船舶周围的障碍物信息和距离信息,通过CAN总线网络将2种信息传输至地面监控子系统。监控端把获取的信息和电子海图相匹配,标识船舶坐标信息,使用基于激光雷达的障碍目标测距方法完成障碍物测距,结合已知定位信息与障碍物距离信息,设计船舶航行指令,由CAN总线网络发送至船载子系统的航行控制单元,驱动航迹控制器控制船舶航行,完成船舶智能导航。仿真实验表明,此系统可实现船舶智能导航,导航应用时可保证船舶不与动态障碍物碰撞。

For the purpose of providing positioning services,obstacle detection and obstacle avoidance path planning services for ships,a ship intelligent navigation system based on laser radar and monocular vision is designed.In the shipborne subsystem of the system,the satellite signal receiver receives the satellite signal.After positioning the ship's position,the obstacle detection unit uses a monocular visual sensor and a laser radar to detect the obstacle information and distance information around the ship,and transmits the two kinds of information to the ground monitoring subsystem through the CAN bus network.The monitoring end of the system matches the obtained information with the electronic chart,and identifies the ship's coordinate information,The obstacle target ranging method based on laser radar is used to complete the obstacle ranging.Combining the known positioning information and the obstacle distance information,the ship navigation instructions are designed and sent to the navigation control unit of the ship-borne subsystem by the CAN bus network to drive the ship track controller to control the ship navigation and complete the ship intelligent navigation.After testing,this system can realize the intelligent navigation of ships,and ensure that ships do not collide with dynamic obstacles during navigation.