基于双目视觉定位技术的无人船航迹跟踪控制室内模型实验

水面无人系统的航向控制与航迹跟踪技术在研究开发阶段一般在室内环境进行调试与运行,该过程需要定位系统进行辅助.实船常用的定位技术难以在室内发挥作用,现有的几种室内定位技术存在成本高、信号传播不稳定等问题.设计了一种基于双目视觉定位技术的船模航迹跟踪控制系统.结合实验场地和实验对象,通过在船模上布置特征物、图像预处理、图像...

Indoor Model Experiment of Unmanned Ship Track Tracking Control Based on Binocular Visual Positioning Technology

The heading control and track tracking control system of surface unmanned system is generally debugged and operated in indoor environment during the research and development stage,and the research needs the assistance of the positioning system.The positioning technology commonly used in real ships is difficult to work indoors.Existing indoor positioning technologies are expensive and the signal is unstable.This paper designs a ship model track tracking control system based on binocular vision positioning technology.Combining the experimental site and experimental objects,the features on the ship model are arranged.We design the image preprocessing process,extract the position features from the image species,and realize the fast and accurate matching of key points.The binocular vision positioning system measures the position and direction with high accuracy and response fast.The experiments of ship model heading control and track tracking control show that the track tracking control system aided by binocular vision positioning technology has high precision and stability.In this paper,binocular vision technology is used to realize the high-precision positioning of ship model indoors,and has been successfully applied to the indoor ship trajectory tracking experiment.