preamble
In the field of marine surveillance, based on the ability of the UAV to achieveEfficient, real-time, automatedThe marine data collection will provide strong support for the protection of the marine environment and the development of resources. In particular, the training of control algorithms for unmanned vessels often requires a large amount of high-quality data support. However, marine data acquisition is also facingData noise and errors、Data Integration and Collaboration和Adaptation to complex marine environmentsThe development of unmanned boat technology has been constrained by a number of challenges.
In response to these challenges, Honghong has explored and launched a set ofOcean Data Acquisition System Based on Multi-sensor FusionThe system is capable of efficiently collecting and processing multi-dimensional data in the marine environment, providing high quality data support for autonomous navigation and control algorithm training of unmanned vessels. The system has been successfullyDelivered to the customer and actually put into use。
Organizational Structure
The key to realizing autonomous navigation in complex maritime environments, especially in accomplishing obstacle detection and tracking tasks, lies in the understanding ofEfficient perception of the sea surface environmentThis is why the integration of multiple sensors, including cameras, radar, IMUs (Inertial Measurement Units) and GPS (Global Positioning System), allows for more comprehensive and accurate data collection. As a result, more comprehensive and accurate data on the marine environment can be collected through the integration of multiple sensors, including cameras, laser radar, IMUs (Inertial Measurement Units) and GPS (Global Positioning System). However, such a system would also further involveTime Synchronization、 Data Transfer與Storage and Environmental AdaptabilityAnd so on.
In view of the above considerations, the adoption ofBRICKplus(Industrial Controller)+ETH6000+Sensor Kit(6\*iDS Camera+1\*LiDAR+1\*IMU+1\*GPS)The program structure, as shown in the figure below:
Organizational Structure
based onBRICKplus+ETH6000The constructed data acquisition platform provides 12 Ethernet ports (10\*1Gb+2\*10Gb) to effectively access each sensor and reserve more space for upgrading the technical architecture and accessing more sensors. The huge amount of data generated by multiple sensors puts high demands on data transmission and storage, especially the simultaneous acquisition of 6 8MP cameras.
The BRICKplus provides high-capacity (8/16/32TB), high-speed write (16Gbit/s) storage hard drives that are capable ofEfficient and stable storage of sensor dataThe GPS module is a powerful and reliable tool. Adopts GPS module and supports(g) PTP time synchronization and positioning。
System Construction
In order to betterSense the environment around the droneThe layout is shown in the figure below, which has been designed and adapted to the distribution and mode of sensors. The layout can more effectively cope with the data acquisition in the complex environment of the sea surface.
System Construction
Data Acquisition
In the case of data acquisition for unmanned boats, it is necessary to make theSensor Kits (Type IV Sensors)Capable of simultaneous data acquisition withTime Synchronization、Real-time visualization、Storage and PlaybackThe overall software architecture is based on The overall software architecture utilizesROS+ SensorIntegration method, support plug and play, easy to use.
for example, iniDS Camera Acquisition LinkOn, it involvesMulti-phase synchronized acquisitionThe problems include the difficulty in realizing the "real-time data transfer", the high demand for real-time transmission and storage of image data, and the lack of flexibility in dynamic parameter adjustments. Through customized development, theROS+PEAK SDKThe solution is deeply integrated, realizing the functions of synchronous acquisition, real-time visualization and dynamic parameter adjustment of multi-phase machines, and flexibleAdapting to the complex mining environment at the sea surfaceThe system's versatility has been improved.
Data Acquisition1
Data Acquisition2
Data Acquisition3
Conclusion
在Marine Surveillance和unmanned boatIn the control field, accuracy and reliability of data acquisition are of paramount importance. Honghong'sA Multi-sensor Fusion Solution for Ocean Data Acquisition System (ODAS)The company utilizes a high-performanceBRICKplus+ETH6000 moduleAs a central processing unit, it connects to multiple sensors, enabling high-speed data transfer and synchronization.
The system utilizesROS Framework and Sensor SDKsCustomized development realizes multi-threaded data acquisition, processing and distribution. Meanwhile, it supports the dynamic loading of sensor parameters into the configuration file, and supports real-time adjustment and optimization, which significantly improves the synchronization, real-time performance and reliability of data acquisition forAutonomous Navigation and Control Algorithm Training for Unmanned VesselsProvides high quality data support.
Learn more about our products
BRICKplus High Performance Automatic Driving Data Acquisition and Recording Platform
- High performance: PCIe 3.0 architecture, 16 GBit/s high bandwidth recording, 32GB RAM, quad-core processor with integrated GPU.
- Time Synchronization: XTSS time synchronization system, supports IEEE 1588v2 802.1AS-2020, multi-domain time synchronization, integrated hardware time synchronization Ethernet port.
- Scalability and Reliability: Modular system, BRICK STORAGE, high performance large storage based on RAID or NVMe, designed for harsh environments.
PSB Precision Synchronization Box - High Precision Time Synchronization and High Speed Multi-Interface Transmission Solution
- Highly accurate time synchronization: Supports IEEE1588v2 (PTP) and 802.1AS-2020 (gPTP) time synchronization protocols with up to 100 ns accuracy.
- Compatible with various operating systems: 4 10GBASE-T interfaces enable seamless integration with different system environments.
- Efficient Synchronization of Time Sources: Synchronize with up to 4 QX550 boards and support 16 interfaces.
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