航行状态信息的实时、精确感知是实现船舶姿态控制与自主航行的基础与前提.采用Otsu算法对船载雷达图像进行预处理,通过霍夫变换获取雷达图像直线分量,求解连续图像间的旋转角度差值,提出了一种基于雷达影像的船舶转角度计算新方法.经实验数据验证,由此获得的船舶转向角误差不随时间而叠加,且最大误差在4%之内.基于雷达影像的船舶转向角计算方法可为其航行制导控制、算法改进提供支撑.%It is of vital importance to obtain accurate and real-time navigation information for the attitude control and autonomous navigation of ship.A novel calculation method of deviation angle of ship based on radar images is proposed.Linear components are extracted from the radar images sequence, by which the angle of deviation can be deduced.The comparison of calculations and experimental data indicates that the error would not be accumulated with the time and its maximum falls in 4%.The present method provides a framework for the future advancement of attitude and navigation control algorithm of ship.
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