CN109425347A - Positioning and map constructing method while a kind of unmanned boat partly latent - Google Patents
Positioning and map constructing method while a kind of unmanned boat partly latent Download PDFInfo
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- CN109425347A CN109425347A CN201710716418.6A CN201710716418A CN109425347A CN 109425347 A CN109425347 A CN 109425347A CN 201710716418 A CN201710716418 A CN 201710716418A CN 109425347 A CN109425347 A CN 109425347A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The present invention provides positioning and map constructing methods while a kind of unmanned boat partly latent, include the following steps, when judging satellite signal strength, present satellites are obtained by GPS positioning technology when signal is good and position latitude and longitude coordinates, equal sensors calculate operational configuration and solve latitude and longitude coordinates per compass when signal is bad, and plus acquisition data time, observe barrier, continuously acquire laser radar data, the time of data acquisition is marked into k, electronic chart is intercepted, using current longitude and latitude as sea chart central point on electronic chart, intercepts a certain range of electronic chart data.It is an advantage of the current invention that can satisfy the job requirements of semi-submersible type unmanned boat, resource exploration is completed well, the job tasks such as information search, the risk of some tasks can be greatly reduced, also expanded the difficulty and feasible region of task, to bring more economic benefits, has vast potential for future development, meanwhile the method simple practical of this invention, feasibility are extremely strong, convenient for project treatment, has the requirement of commodity production completely.
Description
Technical field
The present invention relates to the self poisoning of unmanned boat and map structuring technical field, specially a kind of unmanned boat partly latent it is same
Shi Dingwei and map constructing method.
Background technique
With the development of robot technology, the intelligent sliding with locomotivity, environment sensing ability and contexture by self ability
Mobile robot obtains the most attention of various countries researcher, and semi-submersible type unmanned boat is as a kind of special mobile robot, simultaneously
Positioning is the key that realize autonomous navigation with map structuring technology, currently, there are no the half of a kind of relatively maturation at home
Submersible unmanned boat simultaneous localization and mapping method
GPS positioning technology carries out two-dimensional localization to unmanned boat according to GPS longitude and latitude signal, and one kind being based on how underwater response
The inertia of device/underwater sound Combinated navigation method, is positioned by inertia system, carries out school according to the underwater transponder laid in advance
Standard, obtains the location information of current underwater robot distance, and the Indoor Robot based on laser or camera positions and ground simultaneously
Figure constructing technology.
Positioning and environment sensing modeling method while there is presently no specifically for unmanned boat partly latent.Unmanned boat partly latent and
Water surface unmanned boat, underwater robot, Indoor Robot working environment there are larger difference, the sensor device of installation there is also
Difference, more than the water surface, GPS device is mounted in superstructure water surface unmanned boat working environment, will not be lost due to being submerged
Inactivating signal, and the two-dimensional localization information of longitude and latitude is only needed, the general steady operation of underwater robot is not installed in deepwater environment
GPS device only installs inertial navigation system, or additionally on-course lays multiple underwater transponders and carry out accuracy correction, partly latent
Unmanned boat works in approximately level, and only communication apparatus and GPS device exposes the surface, and exists and loses since seawater floods GPS device
The possibility of satellite-signal is lost, unmanned boat partly latent needs long-time autonomous navigation, cannot determine course line in advance, it is difficult to lay and answer under water
Device is answered, and is not to work long hours in underwater, there is a problem of that precision is not high using only inertial navigation system positioning, existing base
Laser radar is generally used only with map structuring technology in positioning while laser or camera or camera carries out data acquisition,
It is mainly used in Indoor Robot, robot localization Primary Reference is the wall surface of surrounding, for sail, in the most of the time
There was only water in ranges of sensors, any reference point is not present, general positioning and map constructing method can not be used only, to sum up institute
It states, positioning and map constructing method are particularly important to unmanned boat partly latent while finding a kind of combination.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the existing defects, while a kind of unmanned boat partly latent is provided positioning with
Map constructing method, possible satellite positioning signal Loss when making up awash run by inertial navigation system, in map structuring
Side can satisfy the job requirements of semi-submersible type unmanned boat, complete resource exploration well, the job tasks such as information search, greatly
The risk of some tasks is reduced, the difficulty and feasible region for also having expanded task have to bring more economic benefits
Vast potential for future development, meanwhile, the method simple practical of this invention, feasibility is extremely strong, is convenient for project treatment, has quotient completely
The requirement of industry production, can effectively solve the problems in background technique.
To achieve the above object, the invention provides the following technical scheme: positioning and map while a kind of unmanned boat partly latent
Construction method, comprising the following steps:
When there is satellite-signal；
1) latitude and longitude coordinates are calculated: present satellites being obtained by GPS positioning technology and position latitude and longitude coordinates, and plus acquisition
The time of data acquisition is marked k by data time；
2) it intercepts electronic chart: using current longitude and latitude as sea chart central point on electronic chart, intercepting a certain range of electronics
Chart data；
3) it observes barrier: continuously acquiring laser radar data, coordinate system is the geographic coordinate system centered on unmanned boat,
Laser radar point cloud probability is generated, and plus data time is obtained, the time of data acquisition is equally marked into k；If laser thunder
Up to any barrier is not detected, then next detection cycle is directly entered；
4) generate laser point cloud map: the k+1 moment obtains new satellite positioning longitude and latitude, generates new laser radar point
Cloud atlas carries out the matching of step 5- step 7 according to current longitude and latitude and k moment point cloud chart；
5) laser map match updates: abandoning the laser point cloud probability of electronic chart coverage area of the k moment beyond interception
Data, abandoning the k moment has exceeded the data that preset data effective time m does not update；
6) barrier is marked；Each point is that the probability of barrier is on point cloud probability graphP (s in formula
=1) it indicates to navigate by water, p (s=0) expression is barrier, and k+1 moment and the relationship at k moment are
The point for being greater than the threshold value of setting for probability is labeled as barrier；
7) map conflation: laser point cloud diagram data and electronic chart data have identical coordinate system and central point, root at this time
It is merged according to satellite positioning result, completes positioning and map structuring；
When satellite-signal is weak or loses:
1) time, the longitude and latitude, course of last time satellite-signal are recorded；
2) compass data and accelerometer data are obtained；
3) Kalman filtering is carried out to compass data and accelerometer data, and filtered data is integrated, thus
Obtain the speed of a ship or plane and course；
4) length of time lost according to speed, course and satellite-signal calculates current location latitude and longitude coordinates；
5) according to current latitude and longitude coordinates, have step 2-7 when satellite-signal.
Compared with prior art, the beneficial effects of the present invention are: considering the special working environment of unmanned boat partly latent, lead to
It crosses inertial navigation system and makes up possible satellite positioning signal Loss when awash run, in map constructing method, it is contemplated that sea
The more sparse environmental characteristic of upper barrier, combines electronic chart and laser radar has carried out map structuring static data and reality
When data complementation, be allowed to still can be carried out map structuring beyond the farther away region of laser radar range, be navigated by water for unmanned boat
Path planning map datum is provided, the present invention realizes stationkeeping ability by satellite positioning and inertial navigation double locating system, leads to
The unmanned boat latitude and longitude coordinates based on positioning are crossed, laser range finder information architecture real time environment map are superimposed, with multiple technologies
Means greatly strengthen unmanned boat positioning and the robustness in map structuring, improve the safety of unmanned boat navigation partly latent, right
Technology development in the field from now on has certain reference value and directive significance, can satisfy the operation of semi-submersible type unmanned boat
It is required that completing resource exploration well, the job tasks such as information search can be greatly reduced the risk of some tasks, also expand
The difficulty and feasible region of task to bring more economic benefits have vast potential for future development, meanwhile, this hair
Bright method simple practical, feasibility is extremely strong, is convenient for project treatment, has the requirement of commodity production completely.
Detailed description of the invention
The calculation flow chart of positioning and map constructing method while Fig. 1 is a kind of unmanned boat partly latent of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention the following technical schemes are provided:
Positioning and map constructing method while a kind of unmanned boat partly latent, comprising the following steps:
When there is satellite-signal；
1) latitude and longitude coordinates are calculated: present satellites being obtained by GPS positioning technology and position latitude and longitude coordinates, and plus acquisition
The time of data acquisition is marked k by data time；
2) it intercepts electronic chart: using current longitude and latitude as sea chart central point on electronic chart, intercepting a certain range of electronics
Chart data；
3) it observes barrier: continuously acquiring laser radar data, coordinate system is the geographic coordinate system centered on unmanned boat,
Laser radar point cloud probability is generated, and plus data time is obtained, the time of data acquisition is equally marked into k；If laser thunder
Up to any barrier is not detected, then next detection cycle is directly entered；
4) generate laser point cloud map: the k+1 moment obtains new satellite positioning longitude and latitude, generates new laser radar point
Cloud atlas carries out the matching of step 5- step 7 according to current longitude and latitude and k moment point cloud chart；
5) laser map match updates: abandoning the laser point cloud probability of electronic chart coverage area of the k moment beyond interception
Data, abandoning the k moment has exceeded the data that preset data effective time m does not update；
6) barrier is marked；Each point is that the probability of barrier is on point cloud probability graphP in formula
(s=1) it indicates to navigate by water, p (s=0) expression is barrier, and k+1 moment and the relationship at k moment are
The point for being greater than the threshold value of setting for probability is labeled as barrier；
7) map conflation: laser point cloud diagram data and electronic chart data have identical coordinate system and central point, root at this time
It is merged according to satellite positioning result, completes positioning and map structuring；
When satellite-signal is weak or loses:
1) time, the longitude and latitude, course of last time satellite-signal are recorded；
2) compass data and accelerometer data are obtained；
3) Kalman filtering is carried out to compass data and accelerometer data, and filtered data is integrated, thus
Obtain the speed of a ship or plane and course；
4) length of time lost according to speed, course and satellite-signal calculates current location latitude and longitude coordinates；
5) according to current latitude and longitude coordinates, have step 2-7 when satellite-signal.
Positioning and map constructing method while the present invention is a kind of unmanned boat partly latent, it is contemplated that unmanned boat partly latent is special
Working environment, possible satellite positioning signal Loss when making up awash run by inertial navigation system, in map structuring side
In method, it is contemplated that the more sparse environmental characteristic of marine barrier combines electronic chart and laser radar has carried out map structure
The complementation for building static data and real time data is allowed to still can be carried out map structure beyond the farther away region of laser radar range
It builds, provides map datum for the path planning of unmanned boat navigation, the present invention passes through satellite positioning and inertial navigation double locating system
Realize stationkeeping ability, by the unmanned boat latitude and longitude coordinates based on positioning, with being superimposed laser range finder information architecture real time environment
Figure greatly strengthens unmanned boat positioning and the robustness in map structuring, improves unmanned boat partly latent with multiple technologies means
The safety of navigation has certain reference value and directive significance for the technology development in the field from now on, can satisfy half
The job requirements of submersible unmanned boat, complete resource exploration well, and some tasks can be greatly reduced in the job tasks such as information search
Risk, the difficulty and feasible region of task have also been expanded, so that more economic benefits are brought, before having wide development
Scape, meanwhile, the method simple practical of this invention, feasibility is extremely strong, is convenient for project treatment, has wanting for commodity production completely
It asks.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (1)
1. positioning and map constructing method while a kind of unmanned boat partly latent, which comprises the following steps:
When there is satellite-signal；
1) latitude and longitude coordinates are calculated: present satellites being obtained by GPS positioning technology and position latitude and longitude coordinates, and plus acquisition data
The time of data acquisition is marked k by the time；
2) it intercepts electronic chart: using current longitude and latitude as sea chart central point on electronic chart, intercepting a certain range of electronic chart
Data；
3) it observes barrier: continuously acquiring laser radar data, coordinate system is the geographic coordinate system centered on unmanned boat, is generated
Laser radar point cloud probability, and plus data time is obtained, the time of data acquisition is equally marked into k；If laser radar is not
Any barrier is detected, then is directly entered next detection cycle；
4) generate laser point cloud map: the k+1 moment is obtained new satellite positioning longitude and latitude by GPS positioning technology, generated new
Laser radar point cloud atlas carries out the matching of step 5- step 7 according to current longitude and latitude and k moment point cloud chart；
5) laser map match updates: the laser point cloud probability data of electronic chart coverage area of the k moment beyond interception is abandoned,
Abandoning the k moment has exceeded the data that preset data effective time m does not update；
6) barrier is marked；Each point is that the probability of barrier is on point cloud probability graphP (s=1) in formula
Expression can navigate by water, and p (s=0) expression is barrier, and k+1 moment and the relationship at k moment areIt is right
Barrier is labeled as in the point that probability is greater than the threshold value of setting；
7) map conflation: laser point cloud diagram data and electronic chart data have identical coordinate system and central point at this time, according to defending
Star positioning result merges, and completes positioning and map structuring；
When satellite-signal is weak or loses:
1) time, the longitude and latitude, course of last time satellite-signal are recorded；
2) compass data and accelerometer data are obtained；
3) Kalman filtering is carried out to compass data and accelerometer data, and filtered data is integrated, to obtain
The speed of a ship or plane and course；
4) length of time lost according to speed, course and satellite-signal calculates current location latitude and longitude coordinates；
5) according to current latitude and longitude coordinates, have step 2-7 when satellite-signal.
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| CN112381663A (en) * | 2020-11-10 | 2021-02-19 | 北京博创联动科技有限公司 | Variable job processing method, device, platform and storage medium |
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| CN113124864A (en) * | 2021-04-19 | 2021-07-16 | 江苏虹湾威鹏信息技术有限公司 | Water surface navigation method adopting machine vision and inertial navigation fusion |
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