Sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensors
ObjectivesIn order to meet the needs of long-distance sea target recognition and tracking through the navigation radar and integrated optoelectronic equipment of an unmanned surface vehicle (USV) operating in a marine environment, a novel USV autonomous sensing system is developed with heterogeneous...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2021-12-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02308 |
| _version_ | 1798026021302173696 |
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| author | Shangjun LI Lin YUE Zhe LI Yifan ZHANG |
| author_facet | Shangjun LI Lin YUE Zhe LI Yifan ZHANG |
| author_sort | Shangjun LI |
| collection | DOAJ |
| description | ObjectivesIn order to meet the needs of long-distance sea target recognition and tracking through the navigation radar and integrated optoelectronic equipment of an unmanned surface vehicle (USV) operating in a marine environment, a novel USV autonomous sensing system is developed with heterogeneous sensor association, target track prediction and photoelectric camera attitude compensation.MethodsBy using the target track prediction algorithm based on a Kalman filter for the target position information output by the navigation radar, target positioning accuracy can be improved and real-time target information can be provided to the photoelectric camera. The posture compensation algorithm based on the ship's posture in the photoelectric camera is used to complete the tasks of target image collection, recognition and tracking. An USV equipped with our proposed sensing system has completed dynamic target recognition and tracking tasks under Sea State 3 conditions.ResultsThe target tracking error is reduced by 6% and the target recognition success rate is increased to 96.25%, which verifies the environmental adaptability of this sensing system. ConclusionsThrough testing experiments, the proposed recognition and tracking system can effectively solve the problems of difficult image acquisition and poor recognition effects of sea surface targets, effectively improving the success rate of target recognition. |
| first_indexed | 2024-04-11T18:28:30Z |
| format | Article |
| id | doaj.art-346d0abe1b82412c964630719a043b37 |
| institution | Directory Open Access Journal |
| issn | 1673-3185 |
| language | English |
| last_indexed | 2024-04-11T18:28:30Z |
| publishDate | 2021-12-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-346d0abe1b82412c964630719a043b372022-12-22T04:09:32ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852021-12-0116Supp113113710.19693/j.issn.1673-3185.02308ZG2308Sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensorsShangjun LI0Lin YUE1Zhe LI2Yifan ZHANG3China Ship Development and Design Center, Wuhan 430064, ChinaChina Ship Development and Design Center, Wuhan 430064, ChinaChina Ship Development and Design Center, Wuhan 430064, ChinaChina Ship Development and Design Center, Wuhan 430064, ChinaObjectivesIn order to meet the needs of long-distance sea target recognition and tracking through the navigation radar and integrated optoelectronic equipment of an unmanned surface vehicle (USV) operating in a marine environment, a novel USV autonomous sensing system is developed with heterogeneous sensor association, target track prediction and photoelectric camera attitude compensation.MethodsBy using the target track prediction algorithm based on a Kalman filter for the target position information output by the navigation radar, target positioning accuracy can be improved and real-time target information can be provided to the photoelectric camera. The posture compensation algorithm based on the ship's posture in the photoelectric camera is used to complete the tasks of target image collection, recognition and tracking. An USV equipped with our proposed sensing system has completed dynamic target recognition and tracking tasks under Sea State 3 conditions.ResultsThe target tracking error is reduced by 6% and the target recognition success rate is increased to 96.25%, which verifies the environmental adaptability of this sensing system. ConclusionsThrough testing experiments, the proposed recognition and tracking system can effectively solve the problems of difficult image acquisition and poor recognition effects of sea surface targets, effectively improving the success rate of target recognition.http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02308unmanned surface vehicle (usv)sensor registrationtrack predictiondynamic target tracking |
| spellingShingle | Shangjun LI Lin YUE Zhe LI Yifan ZHANG Sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensors Zhongguo Jianchuan Yanjiu unmanned surface vehicle (usv) sensor registration track prediction dynamic target tracking |
| title | Sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensors |
| title_full | Sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensors |
| title_fullStr | Sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensors |
| title_full_unstemmed | Sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensors |
| title_short | Sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensors |
| title_sort | sea surface target recognition and tracking system for unmanned surface vehicle with heterogeneous sensors |
| topic | unmanned surface vehicle (usv) sensor registration track prediction dynamic target tracking |
| url | http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02308 |
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