The invention discloses an unmanned ship autonomous navigation performance test system and method. The system is composed of a test field based on a thermal imaging image acquisition module, a mark module capable of setting temperature and a shore-based data processing and control visualization platform. The method comprises the following steps: firstly, arranging thermal imaging cameras at four corners of a test field and arranging spherical markers on a tested unmanned ship; the temperature of the spherical marker is set to be different from the ambient temperature, so that the thermal imaging camera can shoot the shape of the spherical marker clearly; then, the unmanned ship travels according to a test preset route, and the thermal imaging cameras continuously shoot spherical markers of the unmanned ship in navigation; then, solving the change of the actual position of the unmanned ship by utilizing the change of the photo coordinates of the spherical marker in the images shot by the thermal imaging cameras, and recording the actual navigation trajectory of the unmanned ship; and finally, evaluating the autonomous navigation performance of the unmanned ship by analyzing the actual navigation trajectory of the unmanned ship.
本发明公开了一种无人艇自主航行性能测试系统及方法,所述系统由基于热成像图像采集模块的测试场、可设定温度的标志模块和岸基数据处理及控制可视化平台组成。首先通过在测试场四角布置热成像摄像机和在被测无人艇上布置球形标志物;然后设定球形标志物温度,使其温度有异于环境温度,便于热成像摄像机能清晰拍摄到其形状;接着,无人艇按测试预设航线行驶,各热成像摄像机对航行中的无人艇球形标志物进行连续拍摄;之后,利用球形标志物在各热成像摄像机拍摄到的图像中的像片坐标的改变来求解无人艇实际位置的改变,并记录无人艇实际航行轨迹;最后通过分析无人艇实际航行轨迹来评价无人艇自主航行性能的优劣。
System and method for testing autonomous navigation performance of unmanned ship
一种无人艇自主航行性能测试系统及方法
2023-06-30
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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