Terrain referencing for autonomous navigation of underwater vehicles
Terrain referencing for autonomous navigation of underwater vehicles
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DOI：
10.1109/oceanse.2009.5278257
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
C. Morice;S. Veres;S. McPhail
中科院分区：
文献类型：
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作者：
C. Morice;S. Veres;S. McPhail
地形辅助导航校正系统已开发出来，可与自主水下航行器 (AUV) Autosub 6000 配合使用。该系统允许通过将多波束回声测深仪 (MBE) 数据中观察到的测深数据与参考地图进行匹配来估计航位推算导航中的漂移。参考地图由一行测深数据组成，宽度为一条测绘带，横跨测量任务的操作区域。该地图由 Autosub 在进行调查之前收集。本文讨论了典型 AUV 导航传感器的偏差及其对潜水器在任务中创建的地图上导航的影响。基于此讨论，已实施过滤器并用于分析 Autosub 6000 勘测任务期间累积的导航误差，并评估实时应用的计算限制。
A terrain aided navigation correction system has been developed for use with the Autonomous Underwater Vehicle (AUV) Autosub 6000. This system allows drift in dead-reckoning navigation to be estimated by matching bathymetry obsevered in multibeam echosounder (MBE) data to a reference map. The reference map consists of a single line of bathymetric data, one swath width across, spanning the operational area of a survey mission. This map is collected by Autosub prior to undertaking the survey. This paper presents a discussion of the biases in typical AUV navigational sensors and their influence on navigation on a map that is created in-mission by a submersible. Based on this discussion a filter has been implemented and has been used to analyse the navigational errors accumulated during an Autosub 6000 survey mission and computational limitations for realtime application are assessed.