基于纯方位理论的运动舰船长度测量方法

获得运动舰船的船体长度对于航海避碰和目标识别具有重要的参考价值。然而,由于诸多因素的限制,现有视觉技术难以精确测量。为此,引入了纯方位目标运动分析理论结合双目视觉技术实现对运动舰船长度的测量。首先就所研究问题建立运动模型,推导了基于目标舰船方位、距离参数的舰船长度测量方法,针对该方法测量误差大的问题提出了基于航向、距离、方位的舰船长度测量方法。目标航向无法直接获取,为此引入基于纯方位理论的目标航向视觉估计方法,并进行了仿真验证。最后对两种舰船长度测量模型的误差进行了仿真比较分析,结果表明采用本文提出的"距离航向"法,当观测点位于目标舰船正横左右范围内时误差可以控制在10%内,"方位距离"法误差更小,适用的舷角范围更大。

Research in Length Measurement for Moving Ship Based on Bearing-only Theory

Getting the length of moving ship has important reference value for collision avoidance and target recognition. However, due to the restrictions of many factors, it is hard to be accurately measured by existing vision technology. Therefore, this article introduces bearing-only theory combined with binocular vision technology to measure the length of moving ship. It first establishes the mathematic model for the studying issue, deduces the length measurement method based on bearing and distance of ship. The above method may lead to a big error, in view of this shortcoming, it proposes a length measurement method based on course, distance and bearing. It is hard to get the target’s course, so it introduces the bearing-only theory for estimating the course, and stimulates it. In the end, it analyzes the error of the method by stimulation. Results show that when the observer is located in the ship beam around 55 degrees, the measurement error can be controlled in 10% by the of distance-course method proposed in this paper; and the measurement error is smaller, angle range is bigger than‘bearing-distance’method.