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Underwater Terrain Positioning Method Based on Least Squares Estimation for AUV 预览 被引量:1

Underwater Terrain Positioning Method Based on Least Squares Estimation for AUV
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摘要 完成精确的放自治在水下车辆,一适当在水下为在水下的匹配地面的放的地面数据库存储格式作为在水下用多横梁数据被建立 terrainmatching 数据。一在水下基于部分 Brownian,运动为正常地面插值的缺点被建议的地面插值错误赔偿方法,并且一在水下的匹配地面的放基于最少的广场,评价(LSE ) 为地志的特征的关联分析被建议的方法。菲希尔方法为出现在一个地志的特征平面区域的假本地化作为一个第二等的标准被介绍,有效地减少假放的影响指在匹配精确性并且改进地面平面区域的放的精确性上。模拟基于电子图表和一个惯性的航行系统的飘移错误能有效地被改正的多横梁海试用数据表演试验使用建议方法。放的精确性和实物高,令人满意在水下的精确的放的要求。 To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation(LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.
作者 陈鹏云 李晔 苏玉民 陈小龙 姜言清 CHEN Peng-yun , LI Ye , SU Yu-min , CHEN Xiao-long and JIANG Yan-qing ( a Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China b China Ship Development andDesign Center, Wuhan 430064, China)
出处 《中国海洋工程:英文版》 SCIE EI CSCD 2015年第6期859-874,共16页 China Ocean Engineering
基金 the National Natural Science Foundation of China (Grant Nos. 51179035 and 51279221), and the Natural Science Foundation of Heilongjiang Province (Grant No. E201121).
关键词 最小二乘估计 水下地形 定位方法 AUV 自主水下航行器 误差补偿方法 分数布朗运动 惯性导航系统 multi-beam sounding data underwater digital terrain map fractional Brownian motion least squaresestimation terrain matching positioning fisher diseriminant
作者简介 Corresponding author. E-mail: liye@hrbeu.edu.cn
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参考文献28

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