Dong Ma, Teng Ma, Ye Li, Qiang Zhang, Yu Ling, Yulei Liao
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引用次数: 0
Abstract
Terrain-aided navigation (TAN) is a viable method to achieve long-term underwater navigation for long-range autonomous underwater vehicles (AUVs). However, the high-accuracy positioning results of most TAN systems rely on precise a priori seabed terrain maps, which restricts their applicability to a few areas with accurate bathymetric measurements of the seabed terrain. This article introduces a TAN system based on the General Bathymetric Chart of the Oceans (GEBCO) data set for global marine applications. Specifically, to address the low accuracy and poor robustness of the TAN system with imprecise bathymetric measurement and low-resolution data from the GEBCO data set, this article proposes a multizonotope TAN method based on set-membership filter (SMF) theory. The SMF theory is employed to handle the unknown distribution of the measurement noise from the GEBCO data set, introducing a multizonotope measurement update model to achieve more precise navigational results while addressing the perceptual ambiguity caused by self-similar terrain. The smoothness of the terrain is incorporated as a parameter in the generation ranges of multizonotope, enabling adaptive adjustment based on terrain smoothness to reduce costs and enhance navigational performance. The accuracy and robustness of the proposed method are verified through all shipboard experiments, publicly available data sets, and AUV experiments. Compared with state-of-the-art TAN methods, the average and maximum positioning errors have decreased by 64.83% and 48.84%, respectively. Finally, based on the experimental results, a preliminary distribution of suitable areas in the oceans is provided.
地形辅助导航(TAN)是远距离自主潜水器(AUV)实现长期水下导航的一种可行方法。然而,大多数 TAN 系统的高精度定位结果都依赖于精确的先验海底地形图,这就将其适用范围限制在对海底地形进行精确水深测量的少数地区。本文介绍了基于大洋深度图(GEBCO)数据集的全球海洋应用 TAN 系统。具体而言,针对 TAN 系统在使用 GEBCO 数据集的不精确测深和低分辨率数据时精度低、鲁棒性差的问题,本文提出了一种基于集合成员滤波(SMF)理论的多区位 TAN 方法。利用 SMF 理论处理来自 GEBCO 数据集的测量噪声的未知分布,引入多区位测量更新模型,以获得更精确的导航结果,同时解决自相似地形造成的感知模糊问题。地形的平滑度被作为一个参数纳入多区角的生成范围,从而实现基于地形平滑度的自适应调整,以降低成本并提高导航性能。通过所有舰载实验、公开数据集和自动潜航器实验,验证了所提方法的准确性和鲁棒性。与最先进的 TAN 方法相比,平均和最大定位误差分别降低了 64.83% 和 48.84%。最后,在实验结果的基础上,提供了海洋合适区域的初步分布。
期刊介绍:
The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments.
The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.