| abstract |
The invention provides a millimeter-wave radar-based ship safety berthing assistance method and system, including: installation and calibration of millimeter-wave radar on small ships; access and processing of millimeter-wave radar data; detection by millimeter-wave radar Based on the obtained point targets, it is aggregated to obtain the approximate outline and overall motion parameters of obstacles; based on the aggregated information, the minimum relative distance and azimuth of obstacles from the ship are calculated, and a broadcast mechanism is provided; the panoramic image around the ship is obtained through image stitching, and the The real-time relative distance of obstacles is marked on the panoramic image. The invention is applied to the short-range target perception of the ship, which can effectively make up for the detection blind area of the ship's inherent navigation radar, so that the ship has an all-round and high-precision water surface perception capability, and fully guarantees the safety of the ship during the voyage and the berthing operation. |