Real-time positioning and mapping method for offshore water area
Real-time positioning and mapping method for offshore water area
- Neue Suche nach: XU YONG
- Neue Suche nach: HUANG ZENGHONG
- Neue Suche nach: CHEN ZIJIE
- Neue Suche nach: LU RENQUAN
- Neue Suche nach: RAO HONGXIA
- Neue Suche nach: XU YONG
- Neue Suche nach: HUANG ZENGHONG
- Neue Suche nach: CHEN ZIJIE
- Neue Suche nach: LU RENQUAN
- Neue Suche nach: RAO HONGXIA
The invention discloses a real-time positioning and mapping method for an offshore water area. The method comprises the following steps: data is obtained by a plurality of fisheye cameras, and thus resolving to obtain normalized coordinates of feature points; the inertia measurement unit acquires inertia data of the unmanned ship; sonar collects sonar point cloud data around the unmanned ship; theBeidou satellite navigation system positions the current coordinates of the unmanned ship and calculates the position of a global plane coordinate system; the magnetometer measures the measured valueof the current magnetic field intensity and calculates the attitude of the unmanned ship; the barometer measures air pressure so as to calculate the height of the unmanned ship; linear interpolationis performed on the inertial data and the normalized coordinates of the feature points to obtain multi-view frame poses; the multi-view frame pose is combined with the global plane coordinate system position, the unmanned ship attitude, the unmanned ship height and the sonar point cloud data to generate a grid map and a three-point cloud map through loopback detection and mapping. The real-time positioning and mapping method for offshore water area solves the problem that an existing data acquisition and processing method is applied to offshore water areas and cannot accurately position the offshore water areas.
本发明公开了一种面向近岸水域的实时定位与建图方法，包括多个鱼眼摄像头采集数据后通过解算得到特征点归一化坐标；惯性测量单元获取无人艇的惯性数据；声呐采集无人艇周围声呐点云数据；北斗卫星导航系统定位无人艇当前坐标并解算出全局平面坐标系位置；磁力计测量当前磁场强度的测量值并解算无人艇姿态；气压计测量气压从而计算出无人艇高度；惯性数据和特征点归一化坐标进行线性插值后获得多视图帧位姿；多视图帧位姿结合全局平面坐标系位置、无人艇姿态、无人艇高度和声呐点云数据通过回环检测和建图生成栅格地图和三位点云地图。所述面向近岸水域的实时定位与建图方法，解决了现有的数据采集和处理方法应用于近岸水域无法精确定位的问题。
Dokumentinformationen
Real-time positioning and mapping method for offshore water area
一种面向近岸水域的实时定位与建图方法
2021-03-26
Patent
Elektronische Ressource
Chinesisch
| IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |