基于前视声纳的声里程测量系统的实验评估

Matteo Franchi, A. Ridolfi, Leonardo Zacchini, B. Allotta
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引用次数: 5

摘要

自主水下航行器(auv)需要安全可靠的导航系统来执行所需的任务。不幸的是,众所周知,全球定位系统(GPS)不能在水下任务中被利用。因此,AUV的实时位置通常通过递归导航滤波器获得,如卡尔曼滤波器(KF),扩展卡尔曼滤波器(EKF),无气味卡尔曼滤波器(UKF)或航位推算技术,其中直接速度测量通常由专门的水下传感器提供,如多普勒速度日志(DVL)。这项工作的最终目的是提出一种水下导航解决方案,使AUV能够在不需要DVL的情况下安全导航。特别是,线性速度估计是由前视声纳(FLS)获得的,或者在没有它的情况下,利用一个简单的动态模型。利用在意大利拉斯佩齐亚(La Spezia)进行的海上试验中获得的数据,对所提出的解决方案进行了验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Experimental Evaluation of a Forward-Looking Sonar-Based System for Acoustic Odometry
Autonomous Underwater Vehicles (AUVs) need safe and reliable navigation systems in order to perform the required tasks. Unfortunately, it is well known that the Global Positioning System (GPS) cannot be exploited during underwater missions. As a consequence, the real-time position of the AUV is usually obtained by means of recursive navigation filters such as Kalman Filter (KF), Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) or dead reckoning techniques where direct speed measurements are usually provided by specialized underwater sensors such as the Doppler Velocity Log (DVL). The final aim of this work is to propose an underwater navigation solution where the AUV is able to safely navigate without the need of a DVL. In particular, linear speed estimations are obtained from a Forward-Looking SONAR (FLS) or, in its absence, exploiting a simple dynamic model. The proposed solution is validated making use of data obtained during test at sea performed in La Spezia (Italy).
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