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ID:40383367
大小:2.90 MB
页数:8页
时间:2019-08-01
《Improved Vehicle Based Multibeam Bathymetry using》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、ImprovedVehicleBasedMultibeamBathymetryusingSub-mapsandSLAMChrisRomanHanumantSinghMIT/WHOIJointPrograminAppliedDepartmentofAppliedOceanPhysicsandEngineeringOceanScienceandEngineeringWoodsHoleOceanographicInstitutionMassachusettsInstituteofTechnologyWoodsHole,MA,USA
2、Cambridge,MA,USAhanu@whoi.educroman@whoi.eduAbstract—Thispaperpresentsanalgorithmtoimprovesub-groundreferencedpositionestimateswithboundederror.Un-seaacousticmultibeambottommappingbasedonthesimultane-fortunately,theactualerrorstatisticsarehighlycoupledtotheousmappi
3、ngandlocalization(SLAM)methodology.Multibeamenvironmentandaredifficulttocharacterize[3].LBLsystemsbathymetryfromunderwaterwatervehiclescanyieldvaluablealsorequirethedeploymentofadditionalinfrastructurethatlargescaleterrainmapsoftheseafloor,buttheoverallaccuracyofthes
4、emapsistypicallylimitedbytheaccuracyofthevehiclemakesquicklysurveyinganareadifficult.positionestimates.Thesolutionpresentedhereusessmallbathy-Subseavehiclesalsoemploydeadreckoning(DR)navi-metricpatchescreatedovershorttimescalesinasub-mappinggationusingacousticmeasur
5、ementsofthevehicle’sgroundcontext.Thesepatchesareregisteredwithrespecttooneanotherrelativevelocityandattitude,obtainedfromaninertialnav-andassembledinasinglecoordinateframetoproduceamoreigationsystem(INS).Thismethodofnavigationissubjectaccurateterrainestimateandpro
6、videimprovedrenavigationofthevehicletrajectory.Themappingisimplementedusingatounboundedpositionerrorgrowthoverlongtimescales.delayedstateextendedKalmanfilter(EKF)andresultsareshownHowever,thiserrorgrowthcanbeslowedbyusinghighqualityforarealworldmultibeamdatasetcolle
7、ctedattheMid-AtlanticINSsensorstoproduceaccurateshorttermnavigation[4].TheridgeusingtheJASONROV.primarynavigationsensorforDRnavigationunderwateristheIndexTerms—bathymetry,acousticmapping,SLAM,multi-acousticDopplervelocitylog(DVL).beamInrecentyearsthesimultaneousmap
8、pingandlocalizationcommunityhasfocusedonthecoupledproblemofmappingI.INTRODUCTIONanareawitharobotwhileconcurrentlyderivingimprovedBathymetricterra
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