针对水面无人艇应用于岛岸地形构建的感知问题，本文提出一种基于4G宽频雷达和激光雷达的感知融合算法。该算法基于移动最小二乘优化4G宽频雷达感知数据，采用多线程并行机制实现时间同步，同时改进多级滤波算法，减少海杂波、噪声、悬空点等对激光雷达感知数据的影响；提出新的融合方法实现2种雷达感知数据的融合处理，从而得到准确的岛岸感知结果。通过实际的水面感知试验，融合后岛岸感知精度得到了大幅提升，较融合前感知精度提升了至少60%。
Aiming at the perception problem of unmanned surface vehicles used in island-shore terrain construction, this paper proposes a perception fusion algorithm based on broadband 4G radar and lidar. The algorithm uses mobile least squares to optimize Broadband 4G radar sensing data, and adopts a multi-threaded concurrency mechanism to achieve time synchronization. Meanwhile, the improved filtering algorithm reduces the impact of sea clutter, noise, and floating points on the Lidar sensing data. A new fusion method is proposed to achieve the fusion processing of the two kinds of radar sensing data, so as to obtain accurate island-shore sensing results. Through actual water surface sensing experiments, the island-shore sensing accuracy after the fusion has been greatly improved, which is at least 60% higher than that before the fusion.
2022,44(14): 137-142 收稿日期：2021-10-19
DOI：10.3404/j.issn.1672-7649.2022.14.029
分类号：TP212
基金项目：中国科学院关键人才资助项目
作者简介：侯壮(1996-)，男，硕士研究生，研究方向为水面机器人环境感知
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