Abstract: In order to realize real-time mastery and obstacle avoidance of near-field sea ice around the ship during ice navigations， the near-field sea ice perception and course decision method was studied based on the image fusion of marine radar and ice radar. The use of radar fusion images for sea ice concentration calculation could get more accurate and reliable results than the estimations by artificial observation method. The drawing of sea ice risk heat map and contour map was helpful to quickly grasp the current near-field sea ice risk distributions. Considering the concentration of sea ices and the degree of yaw， the proposed course decision method in ice area could obtain the appropriate course angle. After collecting the marine radar and ice radar images of the polar research icebreaker Xuelong 2 during the maiden voyage to Antarctica， the experimental results of dense ice field and sparse ice field show that the proposed near-field sea ice perception and course decision method may obtain the risk distributions of near-field sea ice and give the appropriate course change suggestions to provide effective support for the safety of polar autonomous navigation. 

Key words: sea ice perception, course decision, ice radar, ice navigation

摘要： 为实现冰区航行时对本船周围近场海冰的实时掌握与避障，研究了基于航海雷达与探冰雷达图像融合的近场海冰感知与航向决策方法。利用融合的雷达图像进行海冰密集度计算，可获得比人工瞭望估算更精确、更可靠的结果；绘制海冰风险热力图与等值线图，有助于快速掌握当前近场海冰的风险分布情况。综合考虑海冰密集度与偏航程度，提出了冰区航向决策方法，可获得适当的航向角。搜集极地科考破冰船“雪龙2”号首航南极的航海雷达与探冰雷达图像后，密集冰场和稀疏冰场等实验结果表明，所提方法可获得近场海冰的风险分布并给出适当的转向建议，从而为极地自主航行安全提供有效支持。

关键词: 海冰感知, 航向决策, 探冰雷达, 冰区航行