基于粒子滤波的水下多目标跟踪

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI:10.1109/OCEANSKOBE.2018.8558865

I. Masmitja, S. Gomáriz, J. del Río, P. Bouvet, J. Aguzzi

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引用次数: 7

摘要

机器人平台的通信和互操作性与海洋科学和工业监测相关。提出了一种基于粒子滤波的自主水下航行器(AUV)水下多目标跟踪(MTT)方法。主要目标是评估使用单个水面航行器作为移动地标来跟踪和跟踪一组水下目标的可行性，每个水下目标都配备了声学标签，水面航行器和水下目标之间的倾斜距离是滤波器的唯一输入。

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Underwater Multi-Target Tracking with Particle Filters

Robotic platforms communication and interoperability is of relevance for marine science and industrial monitoring. We present results of a particle filter study based on underwater Multi-Target Tracking (MTT) using Autonomous Underwater Vehicles (AUV). The main goal was to assess the viability of using a single surface vehicle as a mobile landmark to track and follow a fleet of underwater targets, each one equipped with an acoustic tag where the slant ranges between the surface vehicle and the underwater targets are the unique input for the filters.

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来源期刊

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)

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