The invention provides a ship attitude estimation system and method based on an unmanned aerial vehicle-unmanned ship-submersible vehicle, and belongs to the technical field of ship attitude estimation. Firstly, an unmanned ship, an unmanned aerial vehicle and a submersible vehicle are deployed at specific point locations of a monitored water area; after the unmanned aerial vehicle monitors that the ship enters the monitored water area, the unmanned aerial vehicle, the unmanned ship and the submersible vehicle move towards the target ship point location and return images to the shore-based control center after arriving at designated positions; the shore-based control center identifies the images of the unmanned aerial vehicle and the unmanned ship to obtain a final ship attitude data set; meanwhile, the shore-based control center monitors the attitude above the deck of the ship body and monitors the attitude of cracks at the bottom of the ship and propellers; and finally, correcting the positions of the submersible vehicle, the unmanned ship and the unmanned aerial vehicle according to the distance between the target ship and the central position of the image. And the steps are circulated, and the unmanned aerial vehicle, the unmanned ship and the submersible vehicle return to the initial positions after the task is completed. According to the invention, omnibearing monitoring of the ship attitude can be realized, and the accuracy of the attitude angle of the ship can be improved.
本发明提供了一种基于无人机‑无人船‑潜器的船舶姿态估计系统及方法,属于船舶姿态估计技术领域,首先在监控水域的特定点位部署无人船、无人机与潜器;无人机监测到船舶进入监控水域后,无人机、无人船、潜器向目标船舶点位移动,到达指定位置后分别回传图像至岸基控制中心;岸基控制中心对无人机、无人船图像进行识别,得到最终的船体姿态数据集;与此同时岸基控制中心监控船体甲板上方姿态,并监控船舶底部裂痕、螺旋桨的姿态;最后根据目标船舶距离图像的中心位置距离对潜器、无人船及无人机的位置进行校正;循环上述步骤,待任务完成后无人机、无人船、潜器返回初始位置。本发明可实现船舶姿态的全方位监测,能提升船舶的姿态角的精准度。
Ship attitude estimation system and method based on unmanned aerial vehicle-unmanned ship-submersible vehicle
基于无人机-无人船-潜器的船舶姿态估计系统及方法
2025-02-25
Patent
Electronic Resource
Chinese
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