基于多传感器融合的无人舰载机舰面定位研究

Research on Positioning of Unmanned Carrier-Based Aircraft Based on Multi-sensor Fusion in Ship’s Surface Environment

无人舰载机在航母舰面的自主定位是实现自主转运、提高驶入/驶出效率的重要前提.其中,如何依靠机载传感设备实现GPS拒止环境下的舰载机自主舰面定位是亟待解决的关键技术.为此,提出了一种基于视觉和激光雷达融合的无人舰载机舰面自主定位算法.该算法通过结合手眼标定和互信息标定方法进行多传感器在线标定,使无人舰载机在面对风浪及航母运行等情况下机身摇晃导致传感器外参标定结果变化后仍能保持稳定运行;引入因子图用于无人舰载机的多传感器位姿联合优化并基于自主转运过程中的运动模型建立了简单高效的传感器失效标准,从而有效地融合了激光雷达和视觉定位结果,使该算法在单个传感器失效的情况下依然可以进行精确的自主定位;最后建立了基于多传感器的舰载机舰面仿真系统对本文算法进行验证,实验结果表明,本文算法在单个传感器失效的情况下定位误差仍维持在0.2m以内,满足实际应用要求.

The autonomous positioning of unmanned carrier-based aircraft on the aircraft carrier is an important prerequisite for realizing autonomous transfer and improving the efficiency of entry/exit.Among them,how to rely on airborne sensing equipment to realize autonomous positioning in the ship’s surface environment of carrier-based aircraft in GPS-denied environment is the key technology that needs to be solved urgently.Therefore,an autonomous positioning algorithm is proposed for unmanned carrier-based aircraft based on visual and lider fusion.The algorithm performs multi-sensor online calibration by combining the hand-eye calibration and mutual information calibration methods,so that the unmanned carrier-based aircraft can still run stably after the fuselage shakes in the face of wind and waves and the operation of the aircraft carrier causes the sensor external parameter calibration results to change.A factor graph is introduced for multi-sensor pose joint optimization of unmanned carrier-borne aircraft,and a simple and efficient sensor failure criterion is established based on the motion model in the process of autonomous transport,so as to integrate the lidar and visual positioning results effectively so that the algorithm can operate stably even when a single sensor fails.Finally,a multi-sensor-based simulation system of carrier-based aircraft on the ship is established to verify the algorithm.Experimental results show that the positioning error of the algorithm remains within 0.2 m when a single sensor fails,which meets the requirements of practical applications.