Unmanned ship parking space repositioning method based on laser radar

• Main Authors: ZHANG BINGZHUO, CHI YUHAO, YU MENGLING, CHENG YUWEI, ZHU JIANNAN
• Format: Patent
• Language: Chinese; English
• Published: 28.03.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses an unmanned ship parking location repositioning method based on a laser radar, and the method comprises the steps: carrying out the linear feature detection of contour point cloud data Aontour and contour point cloud data B'contour; and taking a conversion matrix between optimal linear feature pairs between the contour point cloud data Aontour and the contour point cloud data B'contour as a conversion matrix Rxy between the reference point cloud data A and the real-time point cloud data B, and obtaining new positioning information GPS'of the unmanned ship parking location based on the positioning information GPS A, the positioning information GPS P, the real-time positioning information GPS B and the conversion matrix Rxy. Therefore, repositioning of the parking space is realized. According to the method, point cloud matching of the parking space of the unmanned ship is realized by utilizing the linear features, and the problem that the unmanned ship cannot realize accurate autonomous