Terrain aided navigation for long-range AUVs using a new bathymetric contour matching method

Ling Zhou, Xianghong Cheng, Yixian Zhu, Yuan Lu
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引用次数: 11

Abstract

Terrain aided navigation (TAN) is an effective technique to obtain a position estimate for autonomous underwater vehicles (AUVs) when GPS signals are unavailable. To overcome the limitations on initial position errors and AUV trajectory, this paper presents a new bathymetric contour matching method on high-resolution maps. With the help of the single beam echo sounder or the multi-beam echo sounder, the proposed method is verified by seabed TAN. Extensive experiments with high-accuracy bathymetric data on both synthetic and real bathymetric maps show that the AUV position errors are almost proportional to the circular error probability (CEP) of the position. The research has practical significance in position initial alignment for long-range AUVs.
基于新的等高线匹配方法的远程水下机器人地形辅助导航
地形辅助导航(TAN)是在GPS信号不存在的情况下实现自主水下航行器位置估计的一种有效方法。为了克服初始位置误差和AUV轨迹的限制,提出了一种新的高分辨率地图等高线匹配方法。利用单波束测深仪和多波束测深仪对所提方法进行了海底TAN验证。在合成和真实水深图上对高精度水深数据进行的大量实验表明,水下航行器的位置误差几乎与位置的圆误差概率(CEP)成正比。该研究对远程水下机器人的位置初始对准具有实际意义。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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