Chinese Journal of Ship Research, Volume. 20, Issue 2, 357(2025)
STag marking visual guidance method for USV docking
Figures & Tables(15)
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Table 1. Contrast of the test results between STag and AprilTag
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参数 基准标记 STag AprilTag 距离误差平均值/m 0.081 0.076 距离标准差平均值/m 0.027 0.557 角度误差平均值/（°） 1.903 0.954 角度标准差平均值/（°） 2.511 10.955 召回率平均值/% 88.20 87.00
Table 2. Comparative experiment results of the solution methods
View tableView in ArticleTable 2. Comparative experiment results of the solution methods
解算方法 DLT方法 本文方法 （ $ {\gamma _1} = {\gamma _2} = 0.6 $ 距离误差平均值/m 0.307 0.081 距离标准差平均值/m 0.005 0.027 角度误差平均值/（°） 7.190 1.903 角度标准差平均值/（°） 2.384 2.511 召回率平均值/% 79.330 88.200
Table 3. Static docking experiment
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USV航速/（m·s−1） 回收装置航速/（m·s−1） 对接精度/m 0.3 0 0.50 0.6 0 0.30 0.3 0 0.13 0.6 0 0.12
Table 4. Dynamic docking experiment
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USV航速/（m·s−1） 母船航速/（m·s−1） 对接精度/m 2.3 2 0.42 2.6 2 0.33 2.3 2 0.25 2.6 2 0.32
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Yongxin XIAO, Xianbo XIANG, Dian KONG, Lichun YANG, Shaolong YANG. STag marking visual guidance method for USV docking[J]. Chinese Journal of Ship Research, 2025, 20(2): 357
Paper Information
Category: Weapon, Electronic and Information System
Received: Sep. 4, 2023
Accepted: --
Published Online: May. 15, 2025
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