CN117949967A - Method for monitoring berthing position and posture of ship system in real time by laser radar sensor - Google Patents
Method for monitoring berthing position and posture of ship system in real time by laser radar sensor Download PDFInfo
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Abstract
The application discloses a method for monitoring berthing postures of a ship system in real time by a laser radar sensor, which is characterized in that aiming at each ship characteristic point at one side of a ship, the target position of each ship characteristic point is determined, the target coordinates along a first vertical direction are obtained based on a plurality of obtained target positions, and a posture curve is determined by the first target coordinates and the second target coordinates with the largest repeated occurrence times and the second largest repeated occurrence times in the target coordinates, so that when the berthing postures of the ship system are monitored by the laser radar sensor, the ship characteristic point data are effectively processed, and the fitting precision of the posture curve is effectively ensured.
Description
Technical Field
The application relates to the technical field of attitude image recognition of laser radar ranging, in particular to a method for monitoring the berthing attitude of a ship system in real time by a laser radar sensor.
Background
A lidar sensor is a sensor that uses a laser to measure distance, detect target position and profile. They typically include a transmitter and a receiver that calculate the distance between the target object and the sensor by emitting a pulsed laser and measuring its return time. These sensors are widely used in the fields of navigation, autopilot hull feature points, robotics, topography mapping, etc. In the marine field, lidar sensor sensors can provide the following functions and advantages:
Distance measurement: the lidar sensor can accurately measure the distance between the ship and surrounding target objects (such as wharfs, other ships, rocks, etc.), and is helpful for avoiding collision or position control when landing.
Posture detection: by scanning the surrounding environment and identifying target objects, the lidar sensor may help determine the attitude of the vessel, i.e., the direction and position of the vessel relative to the surrounding objects.
The laser radar sensor can play an important role in detecting the onshore attitude of the ship. Such techniques typically involve the use of lidar sensor sensors to obtain information about the position, orientation and attitude of the vessel relative to the shore or dock. The main factors considered when using the lidar sensor to approach the ship include:
Sensor mounting position: the laser radar sensor is installed with consideration of its position. The best location is to enable it to scan the area around the vessel entirely to obtain comprehensive information about the vessel's position and attitude. In general, it is beneficial to be installed at different locations of the vessel to obtain all-round information.
Scan range and angle: the scanning range and angle of the lidar sensor are critical to obtaining accurate attitude information. The sensor is ensured to be able to scan all parts of the vessel, including the side that is on shore, to obtain comprehensive data.
And (3) data processing: raw data obtained from lidar sensor sensors may require complex processing to extract information about the attitude of the vessel. This may involve the processing of the point cloud data, including filtering, registration and segmentation.
Gesture algorithm: the data obtained from the lidar sensor is interpreted using a suitable pose algorithm. This may include fusion using inertial navigation systems (Inertial Navigation Systems, INS) or other sensor data to improve accuracy and robustness.
Real-time requirements: if the attitude of the vessel needs to be monitored in real time, the design of the system needs to take into account the sampling rate of the sensors and the real-time nature of the data processing. This may require high performance computing resources and optimized algorithms.
Environmental conditions: the performance of lidar sensor sensors may be affected by environmental conditions such as rain, fog, high winds, etc. These factors need to be taken into account when designing a system, and corresponding measures may need to be taken to cope with.
However, when the laser radar sensor is used for detecting the leaning posture of the ship, the leaning state of the ship cannot be effectively monitored, and then the state approaching to or far from the berth is monitored and effectively prompted.
Disclosure of Invention
The application provides a method for monitoring the berthing posture of a ship in real time by a laser radar sensor, which is used for automatically recognizing the berthing posture of the ship and prompting the posture of the ship relative to the shore berthing.
The application provides a method for monitoring the berthing posture of a ship system in real time by a laser radar sensor, which comprises the following steps:
Acquiring a plurality of hull feature points along a first horizontal direction through a laser radar sensor fixedly arranged on a bank, and determining the target position of each hull feature point:
acquiring at least one piece of position information of a first hull characteristic point in a first time interval, and acquiring at least one piece of position information of a second hull characteristic point in the first time interval;
Determining whether the first hull feature point is located in a target area according to the at least one position information of the first hull feature point, and determining whether the second hull feature point is located in the target area according to the at least one position information of the second hull feature point;
If the first hull feature point is located in the target area and the second hull feature point is located in the target area, determining a first fitting curve by applying at least one piece of position information of the first hull feature point in a first time interval and at least one piece of position information of the second hull feature point in the first time interval;
Determining a first target position of the first hull feature point based on the first fitted curve and at least one position information of the first hull feature point; determining a second target position of the second hull feature point based on the first fitted curve and at least one position information of the second hull feature point;
Acquiring target coordinates along a first vertical direction in a plurality of target positions of a plurality of hull feature points, and selecting at least a first target coordinate and a second target coordinate;
Determining a gesture curve based on the first target coordinates and the second target coordinates;
wherein the first hull characteristic point is any one of a plurality of hull characteristic points of the hull facing the outer wall of the laser radar sensor; the second hull characteristic point is any one of a plurality of hull characteristic points of the outer wall of the hull facing the side of the laser radar sensor;
the target area is determined based on a horizontal direction of the laser radar sensor as a reference axis and a preset safety distance on the reference axis;
The first fitting curve is used for representing target tracks of the first hull characteristic points and the second hull characteristic points;
The first vertical direction is perpendicular to the first horizontal direction, the first target coordinate is coordinate information with the largest number of repeated occurrence times in the plurality of target coordinates, and the second target coordinate is coordinate information with the second largest number of repeated occurrence times in the plurality of target coordinates.
Further, before determining the first fitted curve by applying the at least one position information of the first hull feature point in the first time interval and the at least one position information of the second hull feature point in the first time interval, the method further comprises:
Determining that the number of the position information of the first hull feature points in the first time interval is larger than the set number, and determining that the number of the position information of the second hull feature points in the first time interval is larger than the set number;
or determining that the first length of the first track of the first hull feature point is greater than a set length threshold; wherein the first length is determined from the at least one location information;
Determining that a second length of a second track of the second hull feature points is greater than a set length threshold; wherein the second length is determined from the at least one location information.
Further, a first length of the first locus of first hull feature points is determined by:
Determining a first reference position; wherein the first reference position is a position represented by one piece of position information among the at least one piece of position information determined according to the target area;
And determining a first length of a first track of the first hull feature point according to the position information with the maximum timestamp in the at least one position information and the first reference position.
Further, a second length of a second locus of the second hull feature point is determined by:
determining a second reference position; wherein the second reference position is a position represented by one piece of position information among the at least one piece of position information determined according to the target area;
And determining a second length of a second track of the second hull feature point according to the position information with the maximum timestamp in the at least one position information and the second reference position.
Further, the acquiring at least one piece of position information of the first hull feature point in the first time interval includes:
acquiring an echo signal obtained after the laser radar sensor transmits a signal to the first ship body characteristic point in a first time interval;
And determining at least one piece of position information of the first ship body characteristic point in the first time interval according to the echo signal.
Further, the acquiring at least one piece of position information of the second hull feature point in the first time interval includes:
acquiring an echo signal obtained after the laser radar sensor transmits a signal to the second ship body characteristic point in a first time interval;
and determining at least one piece of position information of the second ship body characteristic point in the first time interval according to the echo signals.
The embodiment of the application has the following beneficial effects: the method comprises the steps of determining a target position of each hull characteristic point on one side of the hull according to each hull characteristic point, acquiring target coordinates along a first vertical direction based on a plurality of acquired target positions, and determining a gesture curve according to a first target coordinate and a second target coordinate with the largest repeated occurrence times and the second largest repeated occurrence times in the target coordinates, so that when the gesture of a ship close to berths is monitored through a laser radar sensor, processing of hull characteristic point data is effectively achieved, and fitting accuracy of the gesture curve is effectively guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it will be apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 illustrates an application scenario diagram of a method for monitoring a berthing posture of a ship system in real time by using a laser radar according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating a method for monitoring a ship berthing position in real time by using a laser radar according to an embodiment of the present application;
Fig. 3 is a flowchart illustrating a determination of a first length of a first locus of a first hull feature point and a second length of a second locus of a second hull feature point in a method according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.
In order to further explain the technical solution provided by the embodiments of the present application, the following details are described with reference to the accompanying drawings and the detailed description. Although embodiments of the present application provide the method operational steps shown in the following embodiments or figures, more or fewer operational steps may be included in the method based on routine or non-inventive labor. In steps where there is logically no necessary causal relationship, the execution order of the steps is not limited to the execution order provided by the embodiments of the present application.
The technical scheme provided by the embodiment of the application is described below with reference to a flowchart of a method for monitoring the berthing posture of a ship system in real time by using a laser radar shown in fig. 2 in combination with an application scene shown in fig. 1.
The method provided by the embodiment comprises the following steps:
s110: and acquiring a plurality of hull characteristic points along a first horizontal direction through a laser radar sensor fixedly arranged on the bank, and determining the target position of each hull characteristic point.
The laser radar sensor is arranged on the bank and is used for detecting characteristic points on the outer wall of the ship body in real time, wherein the first horizontal direction is used as a ship body characteristic point identification basis, the first horizontal direction is determined by taking the horizontal plane of the laser radar sensor as a reference, and the first horizontal direction is approximately parallel to the length extension direction of the bank.
A coordinate system is established with the lidar sensor as an origin, a first horizontal direction as a transverse axis and a first vertical direction as a longitudinal axis, and the acquired plurality of hull features are all positions under the coordinate system. The number of the acquired plurality of hull characteristic points is at least two.
S120: at least one piece of position information of the first hull feature point in the first time interval is obtained, and at least one piece of position information of the second hull feature point in the first time interval is obtained.
The transmitting antenna of the laser radar sensor sends transmitting signals to each hull characteristic point, and carries out signal processing on echo signals reflected by the hull characteristic points to obtain position information of each hull characteristic point. In some embodiments, to increase accuracy, a millimeter wave lidar sensor may be employed as the lidar sensor.
The position information can be the distance between the ship body characteristic points and the laser radar sensor, and the laser radar sensor can also obtain the speed and azimuth information of each ship body characteristic point by processing the echo signals, wherein the azimuth information can comprise deflection angle, pitch angle, rolling angle and the like of the ship body characteristic points relative to the laser radar sensor.
In an exemplary embodiment, the lidar sensor obtains at least one piece of position information of the first hull feature point in the first time interval from the position information of each hull feature point. Taking 5 minutes as an example in the first time interval, at least one piece of position information of the first hull feature point in the first time interval can be obtained. The number of location information may be set, or may be configured by a lidar sensor, for example.
Correspondingly, the laser radar sensor acquires at least one piece of position information of the second hull characteristic point in the first time interval from the position information of each hull characteristic point. Taking 5 minutes as an example in the first time interval, at least one piece of position information of the second hull feature point in the first time interval can be obtained. The number of location information may be set, or may be configured by a lidar sensor, for example.
S130: and determining whether the first hull feature point is positioned in a target area according to the at least one position information of the first hull feature point, and determining whether the second hull feature point is positioned in the target area according to the at least one position information of the second hull feature point.
The target area is determined according to the horizontal direction of the laser radar sensor as a reference axis and a preset safety distance on the reference axis. It should be noted that the reference axis may be the same as the first horizontal direction, and the preset safety distance is determined by a vertical distance along the first vertical direction compared to the first horizontal direction. On the premise of determining the first horizontal direction, a rectangular area with the first horizontal direction and the first vertical direction as reference coordinates can be formed according to the preset safety distance, the first vertical direction and the first horizontal direction are both positioned in the same horizontal plane, a coordinate system is established by taking the laser radar sensor as an origin and taking the first horizontal direction and the first vertical direction as coordinate axes, the target area is determined by a vertical distance deviating from an axis where the first horizontal direction is positioned along the first vertical direction, and the target area can be further divided and determined into rectangular target areas by a set distance range in the first horizontal direction.
And determining whether the current ship body is close to the berth of the bank according to at least one piece of position information of the first ship body characteristic point and at least one piece of position information of the second ship body characteristic point acquired by the laser radar sensor, and if the current ship body is close to the berth of the bank, monitoring the berth of the ship body.
The detection range of the lidar sensor is larger than the target area, that is, the target area is a subset of the detection range of the lidar sensor.
If all the position information of the first hull feature points or all the position information of the second hull feature points are located outside the target area, the current hull is still located far away from the berth, monitoring or determining of the berth of the hull is not needed, and the data amount of operation processing is reduced.
S140: and if the first hull feature point is positioned in the target area and the second hull feature point is positioned in the target area, determining a first fitting curve by applying at least one piece of position information of the first hull feature point in a first time interval and at least one piece of position information of the second hull feature point in the first time interval.
If the first hull feature point and the second hull feature point are located in the target area, in order to improve accuracy of the berthing gesture of the hull, the constraint may be specifically performed by the number of the position information of the first hull feature point or the first length of the first track of the first hull feature point, and the number of the position information of the second hull feature point or the second length of the second track of the second hull feature point, and may be implemented by the condition 1 or the condition 2, that is, the position information of the first feature point and the second feature point used for determining the first fitting curve is constrained and limited by the condition one or the condition two, and when the position information of the first feature point and the second feature point meets the condition one or the condition two, the position information of the first feature point and the second feature point may be used for determining the first fitting curve.
Condition one: the number of the position information is determined to be larger than the set number.
Wherein, if the number of the position information is too small, the laser radar sensor may not accurately determine the first fitting curve by applying the position information. Therefore, in some embodiments, when the lidar sensor determines the first fitted curve by applying at least one piece of position information, the lidar sensor may ensure that the number of position information is greater than a set number, thereby improving the accuracy of determining the first fitted curve.
That is, the determined position information of the first feature point and the second feature point is greater than the set number, if the number of the position information of the first feature point or the second feature point is less than the set number, it is indicated that part of the position information is not obtained effectively, and the position information of the first feature point and the second feature point cannot be used for determining the first fitting curve. Therefore, the condition one is to perform a condition constraint by comparing the number of pieces of position information of the first feature point and the second feature point with the set number.
Condition II: determining that the first length of the first track of the first hull feature point is greater than a set length threshold, and determining that the second length of the second track of the second hull feature point is greater than the set length threshold.
Wherein if the first length of the first trajectory of the first hull feature point is too short, the laser radar sensor may also be inaccurate to determine the first fitted curve using the position information. Thus, in some embodiments, the lidar sensor may ensure that the first length of the first trajectory of the first hull feature point is greater than the set threshold when determining the first fit curve using the at least one position information. And the lidar sensor may determine a first length of the first hull feature point along the first trajectory or a second length of the second hull feature point along the second trajectory by referencing the following steps. Specifically, the first length of the first locus of the first hull feature point and the second length of the second locus of the second hull feature point are defined by:
s141: the lidar sensor determines a first reference position and the lidar sensor determines a second reference position.
The first reference position is set according to the target area and is located in the target area, that is, the first reference position may be any one of the at least one piece of position information according to the position indicated by the one piece of position information in the at least one piece of position information in the target area.
The second reference position is set according to the target area and is located within the target area, that is, a position indicated by one of the at least one piece of position information in the target area, and may be any one of the at least one piece of position information.
S142: the lidar sensor determines a first length of a first trajectory of the first hull feature point based on the location information with the greatest timestamp of the at least one location information and the first reference location. The lidar sensor determines a second length of a second trajectory of the second hull feature point based on the location information with the greatest timestamp of the at least one location information and the second reference location.
The position information with the largest time stamp can be the position information closest to the laser radar sensor when the first hull feature point or the second hull feature point is in the range of the target area, and the laser radar sensor can determine the first length of the first track of the first hull feature point or the second length of the second track of the second hull feature point through the following formula:
Wherein (x i(k),yi (k)) is the position information with the largest timestamp of the at least one position information, i.e. expressed in abscissa and ordinate of the position relative to the lidar sensor; (X i,Yi) is the abscissa and ordinate of the first reference position with respect to the lidar sensor or the abscissa and ordinate of the second reference position with respect to the lidar sensor.
Thus, when a first hull feature point is located within the target area and either condition 1 or condition 2 is met and when a second hull feature point is located within the target area and either condition one or condition two is met, the lidar sensor determines a first fitted curve using at least one location information of the first hull feature point within a first time interval and at least one location information of the second hull feature point within the first time interval.
The fitting method adopted specifically can be a least square method, the slope a and the intercept b of the fitted straight line are obtained, and the fitting curve y=ax+b is further obtained. In this example, the first fitted curve may be used to represent the target track of the first hull feature point and the second hull feature point, and it is understood that the curve representing the target track of the first hull feature point is obtained by at least one position information of the first hull feature point, and the curve representing the target track of the second hull feature point is obtained by at least one position information of the second hull feature point.
S150: determining a first target position of the first hull feature point based on the first fitted curve and at least one position information of the first hull feature point; a second target location of the second hull feature point is determined based on the first fitted curve and at least one location information of the second hull feature point.
Considering the left-right offset in the process of berthing the ship body characteristic points, if any one of the at least one piece of position information is directly used as the position of the first ship body characteristic point or the second ship body characteristic point, the subsequent calculation may be inaccurate.
Thus, in some embodiments, a first fitting curve to which a plurality of position information is applied and at least one position information are utilized to determine a first target position of a first hull feature point or to determine a second target position of a second hull feature point. The first target position and the second target position fuse a plurality of position information, and the accuracy is high.
And obtaining a first target position of the first hull characteristic point subjected to fitting or correction processing by taking the determined first fitting curve as a functional relation and at least one piece of position information of the first hull characteristic point as an input, and obtaining a second target position of the second hull characteristic point subjected to fitting or correction processing by taking at least one piece of position information of the second hull characteristic point as an input.
S160: and acquiring target coordinates along a first vertical direction in a plurality of target positions of the plurality of hull feature points, and at least selecting a first target coordinate and a second target coordinate, wherein the first vertical direction is vertical to the first horizontal direction, the first target coordinate is the coordinate information with the largest repeated occurrence number in the plurality of target coordinates, and the second target coordinate is the coordinate information with the second largest repeated occurrence number in the plurality of target coordinates.
The first target position is determined by at least one position information of the first fitting curve and the first hull feature point, the determined first target position is located in a coordinate system established in the first horizontal direction and the first vertical direction, and the first target position is the coordinate information which is the most repeatedly appeared in the first vertical direction in a plurality of target positions, namely, the target position is subjected to coordinate disassembly in the coordinate system established in the first horizontal direction and the first vertical direction, and the coordinates of the target position in the first vertical direction are obtained as target coordinates.
The feature points of the outer wall of the ship body on the horizontal plane in the first horizontal direction and the first vertical direction are characterized by a first target coordinate with the largest repeated occurrence number and a second target coordinate with the largest repeated occurrence number.
The second target coordinate is coordinate information having the second largest number of repeated occurrences among the plurality of target coordinates. I.e. the determined target coordinates can be used to evaluate the linear distance of the characteristic points of the hull located in the target area from the embankment where the lidar sensor is located.
More position information in the direction can be acquired by the first target coordinates and the second target coordinates, and fitting of the attitude curve of the ship body can be realized by the method, so that fitting precision can be greatly improved.
S170: a gesture curve is determined based on the first target coordinates and the second target coordinates.
Specifically, the gesture curve is determined by a least square method from coordinate data corresponding to the first target coordinate and the second target coordinate, namely, coordinate data corresponding to coordinate points of a coordinate system established by the first horizontal direction and the first vertical direction of the first target coordinate and the second target coordinate, and can be used for representing a leaning curve of the ship body close to the bank side, and can be used as feedback of a berthing gesture of the ship body.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor 1001 of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor 1001 of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. The method for monitoring the berthing posture of the ship system in real time by using the laser radar sensor is characterized by comprising the following steps of:
Acquiring a plurality of hull feature points along a first horizontal direction through a laser radar sensor fixedly arranged on a bank, and determining the target position of each hull feature point:
acquiring at least one piece of position information of a first hull characteristic point in a first time interval, and acquiring at least one piece of position information of a second hull characteristic point in the first time interval;
Determining whether the first hull feature point is located in a target area according to the at least one position information of the first hull feature point, and determining whether the second hull feature point is located in the target area according to the at least one position information of the second hull feature point;
If the first hull feature point is located in the target area and the second hull feature point is located in the target area, determining a first fitting curve by applying at least one piece of position information of the first hull feature point in a first time interval and at least one piece of position information of the second hull feature point in the first time interval;
Determining a first target position of the first hull feature point based on the first fitted curve and at least one position information of the first hull feature point; determining a second target position of the second hull feature point based on the first fitted curve and at least one position information of the second hull feature point;
Acquiring target coordinates along a first vertical direction in a plurality of target positions of a plurality of hull feature points, and selecting at least a first target coordinate and a second target coordinate;
Determining a gesture curve based on the first target coordinates and the second target coordinates;
wherein the first hull characteristic point is any one of a plurality of hull characteristic points of the hull facing the outer wall of the laser radar sensor; the second hull characteristic point is any one of a plurality of hull characteristic points of the outer wall of the hull facing the side of the laser radar sensor;
the target area is determined based on a horizontal direction of the laser radar sensor as a reference axis and a preset safety distance on the reference axis;
The first fitting curve is used for representing target tracks of the first hull characteristic points and the second hull characteristic points;
The first vertical direction is perpendicular to the first horizontal direction, the first target coordinate is coordinate information with the largest number of repeated occurrence times in the plurality of target coordinates, and the second target coordinate is coordinate information with the second largest number of repeated occurrence times in the plurality of target coordinates.
2. The method of claim 1, wherein prior to determining the first fitted curve using the at least one location information of the first hull feature point over the first time interval and the at least one location information of the second hull feature point over the first time interval, the method further comprises:
Determining that the number of the position information of the first hull feature points in the first time interval is larger than the set number, and determining that the number of the position information of the second hull feature points in the first time interval is larger than the set number;
or determining that the first length of the first track of the first hull feature point is greater than a set length threshold; wherein the first length is determined from the at least one location information;
Determining that a second length of a second track of the second hull feature points is greater than a set length threshold; wherein the second length is determined from the at least one location information.
3. The method of claim 2, wherein the first length of the first locus of first hull feature points is determined by:
Determining a first reference position; wherein the first reference position is a position represented by one piece of position information among the at least one piece of position information determined according to the target area;
And determining a first length of a first track of the first hull feature point according to the position information with the maximum timestamp in the at least one position information and the first reference position.
4. The method of claim 2, wherein the second length of the second locus of second hull feature points is determined by:
determining a second reference position; wherein the second reference position is a position represented by one piece of position information among the at least one piece of position information determined according to the target area;
And determining a second length of a second track of the second hull feature point according to the position information with the maximum timestamp in the at least one position information and the second reference position.
5. The method of claim 1, wherein the obtaining at least one location information of the first hull feature point over the first time interval comprises:
acquiring an echo signal obtained after the laser radar sensor transmits a signal to the first ship body characteristic point in a first time interval;
And determining at least one piece of position information of the first ship body characteristic point in the first time interval according to the echo signal.
6. The method of claim 1, wherein the obtaining at least one location information of the second hull feature point over the first time interval comprises:
acquiring an echo signal obtained after the laser radar sensor transmits a signal to the second ship body characteristic point in a first time interval;
and determining at least one piece of position information of the second ship body characteristic point in the first time interval according to the echo signals.
Priority Applications (1)
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