Combined positioning and orientation method and system of unmanned surface vehicle

The invention discloses a combined positioning and orientation method and system of an unmanned surface vehicle. According to the use environment and the sensor performance characteristics of the unmanned surface vehicle, configuration of the combined positioning and orientation system is determined...

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Bibliographische Detailangaben
Hauptverfasser:	YU XUEHAO, YIN SHIMING, PEI ZHONGHAI, WANG PENG, LI GUIFANG, ZHOU ZHIYANG, LI CONG, PI CAO
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CONTROLLING 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 REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING
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Beschreibung
Zusammenfassung:	The invention discloses a combined positioning and orientation method and system of an unmanned surface vehicle. According to the use environment and the sensor performance characteristics of the unmanned surface vehicle, configuration of the combined positioning and orientation system is determined, and a fusion strategy of the combined positioning and orientation system is established; accordingto the fusion strategy of the combined positioning and orientation system, the laser radar data are preprocessed; a relative positioning random sampling consistency algorithm is adopted to calculatethe preprocessed laser radar data so as to obtain the relative distance between the unmanned surface vehicle and an obstacle; and by an observation vector fusion algorithm, calculation is performed toobtain positioning and orientation information of the unmanned surface vehicle, and output is performed. According to the combined positioning and orientation method and system, the unmanned surfacevehicle has the capabilities