Abstract:Aiming at the current lack of research on unmanned systems that integrate autonomous navigation, target detection, and environmental perception technologies, an INS/Bionic Vision/LiDAR based intelligent perception unmanned system is proposed. The integrated navigation technology based on bionic polarization vision/INS/ LiDAR and the target detection and environmental perception technology based on YOLOv7 are applied to unmanned systems. On the one hand, it can avoid the problem that wartime satellite navigation is easy to be anti-reconnaissance and interference, improve the concealment and autonomous navigation ability of unmanned systems in complex environments (field environment and closed unknown environment), and enhance the stability and robustness of integrated navigation systems. On the other hand, visual cameras are used for intelligent perception in complex environments to improve the target detection and autonomous obstacle avoidance capabilities of unmanned systems. The built unmanned system is used for experimental verification. The results show that the method can realize the autonomous navigation and target recognition function of the unmanned system. Compared with the traditional method, the autonomous obstacle avoidance ability is improved. The navigation accuracy error is within 1 ° in the field environment.