中国舰船研究2025，Vol.20Issue(2)：357-365,9.DOI:10.19693/j.issn.1673-3185.03549
面向无人艇对接回收的STag标记视觉导引技术
STag marking visual guidance method for USV docking
摘要
Abstract
[Objective]Aiming at the problem of accurate real-time pose acquisition in the autonomous re-covery of an unmanned surface vehicle(USV),a STag marking visual guidance method for unmanned vehicle docking and recovery is proposed.[Methods]Due to the stable attitude characteristics of STag markers,they are selected as the fiducial markers in the visual guidance of this work.By detecting STag markers in the video stream obtained by the camera on the USV,combined with the camera's internal parameters and the size of the markers,EPn P and direct linear transformation(DLT)algorithms are fused to calculate the relative pose of the recovery device and USV.Amplitude limiting filtering and first-order low-pass filtering are then per-formed to obtain the required lateral offset and heading deviation for line-of-sight(LOS)docking guidance.[Results]In the static performance test,the average angular error of target detection is 6.85° and the aver-age distance error is 0.056 m.In the guided autonomous recovery lake test,the accuracy of static and dynamic docking is within plus or minus 0.5 m.[Conclusion]Compared to traditional USV docking and recovery methods,STag marking visual guidance can enhance the terminal accuracy of USV autonomous docking and improve the overall success rate of docking and recovery.关键词
无人艇/对接/回收/目标检测/导航系统/视觉导引/STag标记Key words
unmanned vehicles/docking/recovery/target detection/navigation system/visual guidance/STag marker分类
交通工程引用本文复制引用
肖咏昕,向先波,孔典,杨立春,杨少龙..面向无人艇对接回收的STag标记视觉导引技术[J].中国舰船研究,2025,20(2):357-365,9.基金项目
国家自然科学基金资助项目(52071153,51579111) （52071153,51579111）
