The invention provides a hydrometeorological unmanned ship based on a visual inertia laser radar and an SLAM navigation method thereof.The unmanned ship comprises a ship protection cover, a ship shell, the laser radar, a depth camera, an IMU module, an intelligent development board and the like, and the laser radar, the depth camera and the IMU module are connected with the intelligent development board; the unmanned ship further comprises a Beidou positioning module, a sensor module, an STM32 driving board, a brushless motor driving module and an electronic speed regulator, the unmanned ship can achieve precise positioning and path planning of a ship body, environment monitoring and sampling and has the functions of automatic cruise, obstacle avoidance and the like, laser radar information and binocular vision IMU attitude estimation are fused through tight coupling, and the navigation precision is improved. According to the SLAM front-end attitude estimator, a VILO front-end attitude estimator is formed, and laser radar observation is added to further limit the attitude, so that the accuracy and robustness of the SLAM front-end attitude estimator in indoor and outdoor environments are improved.
本发明提出基于视觉惯性激光雷达的水文气象无人船及其SLAM导航方法,无人船包括船保护盖、船壳、激光雷达、深度相机、IMU模块、智能开发板等,激光雷达、深度相机以及IMU模块连接智能开发板,还包括北斗定位模块、传感器模块、STM32驱动板、无刷电机驱动模块和电子调速器,无人船能够实现对船体的精准定位和路径规划、对环境监测和取样,具有自动巡航避障等功能,导航方法通过紧耦合将激光雷达信息与双目视觉IMU姿态估计融合,形成视觉‑惯性‑激光雷达里程计VILO前端姿态估计器,它还在于增加激光雷达观测,以进一步限制姿态,从而提高SLAM前端姿态估计器在室内和室外环境中的准确性和稳健性。
Hydrometeorological unmanned ship based on visual inertia laser radar and SLAM navigation method thereof
基于视觉惯性激光雷达的水文气象无人船及其SLAM导航方法
15.04.2025
Patent
Elektronische Ressource
Chinesisch
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