Method for constructing occupancy grid maps based on navigation radar echo video data
ObjectiveTo 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 ob...
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2025-02-01
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| Series: | Zhongguo Jianchuan Yanjiu |
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| Online Access: | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.04148 |
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| author | Kunyi JIANG Shiping SUN Bingdong JIANG Qing CAI |
| author_facet | Kunyi JIANG Shiping SUN Bingdong JIANG Qing CAI |
| author_sort | Kunyi JIANG |
| collection | DOAJ |
| description | ObjectiveTo 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 describe the inclusion relationship between radar tracks and echo points, laying the foundation for the construction of the grid map. During this process, neighboring tracks are aggregated based on group adjacency to mitigating 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. ResultsThe 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 target splitting phenomena. Compared with classical methods, the initial detection distance for small floating objects with a freeboard of 0.5 m was improved by 78.34 m, and the positioning accuracy was improved by 2.97 m.ConclusionThe proposed method ensures accurate perception of marine floating obstacles and moving targets on the sea surface, safeguarding the safe navigation of USVs. |
| format | Article |
| id | doaj-art-e1d9bff3f4324bf387b3e07abee27d69 |
| institution | DOAJ |
| issn | 1673-3185 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj-art-e1d9bff3f4324bf387b3e07abee27d692025-08-20T03:00:51ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852025-02-012019610610.19693/j.issn.1673-3185.04148ZG4148Method for constructing occupancy grid maps based on navigation radar echo video dataKunyi JIANG0Shiping SUN1Bingdong JIANG2Qing CAI3Jiangsu Automation Research Institute, Lianyungang 222061, ChinaJiangsu Automation Research Institute, Lianyungang 222061, ChinaJiangsu Automation Research Institute, Lianyungang 222061, ChinaJiangsu Automation Research Institute, Lianyungang 222061, ChinaObjectiveTo 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 describe the inclusion relationship between radar tracks and echo points, laying the foundation for the construction of the grid map. During this process, neighboring tracks are aggregated based on group adjacency to mitigating 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. ResultsThe 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 target splitting phenomena. Compared with classical methods, the initial detection distance for small floating objects with a freeboard of 0.5 m was improved by 78.34 m, and the positioning accuracy was improved by 2.97 m.ConclusionThe proposed method ensures accurate perception of marine floating obstacles and moving targets on the sea surface, safeguarding the safe navigation of USVs.http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.04148unmanned vehiclesnavigation radarradar signal processingtarget recognitionradar echo signalssituational awarenessfloating obstaclesoccupancy grid mapping |
| spellingShingle | Kunyi JIANG Shiping SUN Bingdong JIANG Qing CAI Method for constructing occupancy grid maps based on navigation radar echo video data Zhongguo Jianchuan Yanjiu unmanned vehicles navigation radar radar signal processing target recognition radar echo signals situational awareness floating obstacles occupancy grid mapping |
| title | Method for constructing occupancy grid maps based on navigation radar echo video data |
| title_full | Method for constructing occupancy grid maps based on navigation radar echo video data |
| title_fullStr | Method for constructing occupancy grid maps based on navigation radar echo video data |
| title_full_unstemmed | Method for constructing occupancy grid maps based on navigation radar echo video data |
| title_short | Method for constructing occupancy grid maps based on navigation radar echo video data |
| title_sort | method for constructing occupancy grid maps based on navigation radar echo video data |
| topic | unmanned vehicles navigation radar radar signal processing target recognition radar echo signals situational awareness floating obstacles occupancy grid mapping |
| url | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.04148 |
| work_keys_str_mv | AT kunyijiang methodforconstructingoccupancygridmapsbasedonnavigationradarechovideodata AT shipingsun methodforconstructingoccupancygridmapsbasedonnavigationradarechovideodata AT bingdongjiang methodforconstructingoccupancygridmapsbasedonnavigationradarechovideodata AT qingcai methodforconstructingoccupancygridmapsbasedonnavigationradarechovideodata |