基于多传感器的水下航行器定位方案

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI:10.1109/UT.2004.1405544

B. Kalyan, Arjuna Balasuriya

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引用次数: 9

摘要

提出了一种基于前视声纳(FLS)和电荷耦合器件(CCD)相机的水下自主航行器(AUV)近底位置估计方案。利用本文讨论的特征提取技术对机载FLS获得的扫描图像进行处理，以提取环境中的稳定点特征。通过在测试坦克环境中使用NTU-UAV(测试平台AUV)进行的测试试验，提出了一种基于摄像机的运动估计方案。本文讨论了上述单个传感器的性能及其在水下航行器位置估计中的缺陷。

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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Multiple sensors based navigation scheme for AUV position estimation

An autonomous underwater vehicle (AUV) position estimation scheme is proposed using Forward Looking Sonar (FLS) and Charged Coupled Device (CCD) camera for near bottom applications. Scans obtained from the onboard FLS are processed using a feature extraction technique discussed in the paper to extract stable point features in the environment. A motion estimation scheme based on homography estimates using the camera is also presented through test trials conducted using the NTU-UAV, test-bed AUV, in a test tank environment. The paper discusses the above-mentioned individual sensor capabilities and drawbacks in estimating the position of an AUV.

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Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)

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