USV复杂水域环境综合感知技术

从无人水面艇（Unmanned Surface Vessel，USV）所处的工作环境，分析单目摄像头、双目摄像头、海事雷达、激光雷达等传感器的组成原理、优缺点、性能测试。介绍多传感器数据在USV上的融合原理、融合流程及其应用情况。经过实船海上试验，多传感器数据融合指标良好，较好地解决USV在复杂水域安全航行的感知技术问题。所描述的感知技术，对设计和研发搭载不同任务的USV，识别不同工作场景环境，具有积极的参考价值。

Integrated Environmental Sensing Technology of Complex Water Area for USV

Based on the working environment of Unmanned Surface Vessel (USV), the composition principle, advantages and disadvantages, and performance test of monocular camera, binocular camera, maritime radar, laser radar, and other sensors are analyzed. The fusion principle, fusion flow of multisensor data and its application in USV are introduced. The good multisensor data fusion indexes are obtained by the actual vessel sea test, and the sensing technology problem of USV for safe navigation in complex water area is solved well. The sensing technology described is of a positive reference value for designing and developing the USV carrying different tasks and identifying different working environments.