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Volume 27 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(3): 313-318
ZHANG Wei, LI Zi-xuan, GONG Peng, ZHAO Han-qing, ZENG ning. A Positioning Method of Monocular Visual Guided Light Array in UUV Docking System[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 313-318. doi: 10.11993/j.issn.2096-3920.2019.03.012
Citation: ZHANG Wei, LI Zi-xuan, GONG Peng, ZHAO Han-qing, ZENG ning. A Positioning Method of Monocular Visual Guided Light Array in UUV Docking System[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 313-318. doi: 10.11993/j.issn.2096-3920.2019.03.012
shu

A Positioning Method of Monocular Visual Guided Light Array in UUV Docking System

doi: 10.11993/j.issn.2096-3920.2019.03.012

  • College of Automation, Harbin Engineering University, Harbin 150001, China

  • Received Date: 2018-09-28
  • Rev Recd Date: 2019-04-02
  • Publish Date: 2019-06-30
    Abstract
  • A novel monocular visual guided light array positioning method of unmanned undersea vehicle(UUV) docking system is proposed for the fold-carrying-pole recovery. First, according to the mechanism characteristics of UUV docking and the visual docking requirements, a simple and feasible UUV visual docking device is designed. Second, the Otsu method is improved to extract target features of the guide light array under the conditions of darkness, low contrast, and blurry details. Third, using the binary large objects(BLOB) analysis to describe features and adopting the improved multi-scale kernel correlation filter(KCF) tracking algorithm, the tracking fail due to appearance of pseudo light source during the tracking process is avoided. Pool test combined with ultra-short baseline(USBL) and manual calibration data verifies that this positioning method is more effective and stable than the USBL method for short-distance positioning, and the error is within 0.1 m after error compensation.

     

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    • References(14)
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