基于声纳图像处理的自主水下航行器定位

ELMAR 2007 Pub Date : 1900-01-01 DOI:10.1109/ELMAR.2007.4418808

Z. Eskinja, Z. Fabeković, Z. Vukic

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引用次数: 6

摘要

大部分水下作业都是在结构化环境中进行的。本文介绍了一种低成本的水下航行器在水池、水箱、水塔等场所的定位方法。开发的应用程序仅使用简单的扫描声纳和数字指南针计算二维位置。为此还设计了一个用户界面。在一个圆形水池中测试了各种声纳扫描模式，并对结果进行了分析。

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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Localization of autonomous underwater vehicles by sonar image processing

A major percentage of underwater operations takes place in structured environments. This article presents a low cost way for underwater vehicle positioning in places like pools, tanks, water towers etc. The developed application calculates a 2D position using only a simple scanning sonar and a digital compass. A user interface has also been designed for this purpose. Various modes of sonar scanning were tested in a circular pool and the analysis of the results is presented here.

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ELMAR 2007

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