Design of Unmanned Surface Vehicle docking system based on multi-source observation
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摘要: 【目的】复杂海况下无人艇（USV）的自主返航回收阶段面临海上风浪、母船尾流以及恶劣天气影响。如何可靠观测回收斗导引信息并实现USV运动目标跟踪是亟待解决的难题。【方法】为此，本文提出了一种基于多源观测的回收斗导引对接策略。整个对接过程划分三阶段。阶段一，避开母艇尾流干扰区，完成USV航线粗对准。阶段二，USV保持航向跟踪导引线，为末端对接回收做调整准备。阶段三，对视觉传感器和惯性导航传感器获取数据滤波融合后传递给USV计算回收导引线，进而USV通过自身制导与控制完成对末端导引线跟踪与对接回收任务。【结果】设计一套基于视觉和组合导航融合的USV对接回收系统。通过自行设计实艇软硬件，进行外场湖试验证了系统设计及对接策略的可行性，试验结果显示USV执行自主对接任务成功率达到91.6%。【结论】提出的对接策略可以满足USV的高精度对接回收。为USV回收提供了关键技术支撑。Abstract: [Objectives] Autonomous recovery of Unmanned Surface Vehicle (USV) using docking device under complex sea conditions faces the influence from natural wind and waves, mother ship wake and harsh weather conditions. How to robustly sense the guidance information of the docking device and realize USV motion target tracking is an urgent problem to be solved. [Methods] This paper proposes a docking guidance strategy based on multi-source observation of the docking device. The whole recovery process is divided into three stages. In the first stage, the USV avoids the mother boat's wake interference zone and completes the rough alignment of the guidance route. In the second stage, the USV maintains the heading tracking guide line in preparation for the end docking recovery. In the third stage, the data obtained from the camera sensor and the inertial navigation sensor are filtered and fused and passed to USV to calculate the guidance line. And then USV completes the task of tracking and return to the docking device. [Results] In this paper, an USV docking recovery system based on visual and inertial sensor fusion technology is proposed. The feasibility of system
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