【作者】 周治国； 马骁勇； 钟一鸣； 屈崇；

【Author】 ZHOU Zhiguo;MA Xiaoyong;ZHONG Yiming;QU Chong;School of information and electronics,Beijing Institute of Technology;Shanghai Marine Diesel Engine Research Institute;

【机构】 北京理工大学信号与电子学院； 中国船舶重工集团第七一一研究所；

【摘要】 水面无人艇为完成自主导航与控制,需要雷达,视觉等多传感器融合进行环境感知以获得更准确,更高效的探测结果。多传感器融合既要保证水面环境中机箱内板卡间的高速互联,又要保证板卡稳定的工作环境,需要一种基于高性能传输总线,支持多任务处理的硬件系统;VPX总线标准在模块、互联、系统等方面都做出了详细的规范,采用串行总线满足高速数据传输,且扩展灵活,能够满足水面无人艇多传感器融合系统搭建需求;通过对自主航行环境感知技术分析,结合VPX标准主要特点,设计了一种基于VPX总线的水面无人艇多传感器融合系统。更多还原

【Abstract】 In order to complete autonomous navigation and control, the USV needs radar, vision and other multi-sensor fusion to obtain more accurate, more efficient detection results. The multi-sensor fusion not only ensures the high-speed interconnection between the board and card in the chassis, but also guarantees the stable working environment of the board. It needs a hardware system based on high performance transmission bus and supporting multi task processing. The VPX bus standard has made detailed specifications in modules, interconnections and systems. The bus meets the high speed data transmission and is flexible and can meet the requirements of the multi sensor fusion system for water surface unmanned craft. Through the analysis of the autonomous navigation environment perception technology and the main characteristics of the VPX standard, a multi-sensor fusion model of USV based on VPX bus is designed.更多还原