In order to solve this problem,a fast identification method of ship route in fog based on lidar echo signal is proposed.The signal accumulation enhancement algorithm is used to enhance the lidar echo signal in fog,and the improved empirical mode decomposition algorithm is used to denoise the enhanced echo signal.Combined with the echo signal,the optimal segmentation threshold of ship route and water surface is obtained through the minimum within class variance,and the ship route feature points are extracted.The least square fitting method is used to fit the characteristic points of the ship route to complete the identification of the ship route in fog.The experimental results show that the lidar echo signal is smoother,the output signal-to-noise ratio is higher,the root mean square error is lower,and the accuracy of ship route identi-fication is better.
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