中国舰船研究2025，Vol.20Issue(1)：96-106,11.DOI:10.19693/j.issn.1673-3185.04148
基于导航雷达回波视频数据的占据栅格地图构建方法
Method for constructing occupancy grid maps based on navigation radar echo video data
摘要
Abstract
[Objective]To address the poor perception of marine floating obstacles such as aquaculture areas,buoys,and small floating objects by navigation radar of unmanned surface vessels(USVs),a unified technical solution is proposed for stable and accurate perception of various types of marine floating obstacles.[Methods]An environmental perception method based on constructing and updating an occupancy grid map from navigation radar echo video data is presented.First,a multi-level set approach is adopted to de-scribe the inclusion relationship between radar tracks and echo points,laying the foundation for the construc-tion of the grid map.During this process,neighboring tracks are aggregated based on group adjacency to mit-igating trajectory deviation caused by target splitting.Then,a probability update algorithm for the occupancy grid map,based on the natural logarithm function,is proposed to effectively distinguish sea clutter from minor marine floating obstacles by leveraging historical data.Finally,a probability diffusion model for the grid map,grounded in track attributes,is established to ensure real-time updates for typical dynamic targets'occupied grids.[Results]The results from actual ship trials show that the proposed method can accurately acquire the contour information of extensive marine floating obstacles like aquaculture areas and buoys and suppress tar-get splitting phenomena.Compared with classical methods,the initial detection distance for small floating ob-jects with a freeboard of 0.5 m was improved by 78.34 m,and the positioning accuracy was improved by 2.97 m.[Conclusion]The proposed method ensures accurate perception of marine floating obstacles and moving targets on the sea surface,safeguarding the safe navigation of USVs.关键词
无人船/导航雷达/雷达信号处理/目标识别/雷达回波信号/态势感知/漂浮障碍物/占据栅格地图Key words
unmanned vehicles/navigation radar/radar signal processing/target recognition/radar echo signals/situational awareness/floating obstacles/occupancy grid mapping分类
交通工程引用本文复制引用
江坤颐,孙世平,蒋丙栋,蔡庆..基于导航雷达回波视频数据的占据栅格地图构建方法[J].中国舰船研究,2025,20(1):96-106,11.基金项目
国家部委基金资助项目 （）
