Application of Range Finder by Image Sensor in the Underwater Environment
Application of Range Finder by Image Sensor in the Underwater Environment
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DOI：
10.23919/elinfocom.2019.8706398
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发表时间：
2019-01
期刊：
影响因子：
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通讯作者：
Eriko Enomoto;Junji Shimizu;Y. Koike;Husna Masyhuri;Yuichi Hashimoto;H. Morino;N. Hirohashi;E. Shimizu;Kunio Sakata
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文献类型：
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作者：
Eriko Enomoto;Junji Shimizu;Y. Koike;Husna Masyhuri;Yuichi Hashimoto;H. Morino;N. Hirohashi;E. Shimizu;Kunio Sakata
本文介绍了图像传感器测距仪在水下环境中的应用。该测距仪应用的目的是提高像遥控水下航行器（ROV）这样的水下航行器的定位精度，这种水下航行器的运动是由带有卡尔曼滤波的IMU传感器计算的。一般来说，像激光二极管（LD）或发光二极管（LED）这样的发射器应该设置在像光电二极管（PD）或图像传感器这样的探测器周围来测量距离。在使用图像传感器的基于脉冲飞行时间（PB-ToF）方法的情况下，发射器和探测器的同步时钟可用，可以将发射器与探测器分开设置。然后，利用图像传感器测距仪精确测量海面与漂流水下观测系统之间的距离。本文对零售PB-ToF图像传感器进行了改造，使其符合我们的要求。然后，利用改造后的测距仪测量水下环境下发射极与探测器之间的距离。
This paper describes application of range finder by image sensor in the underwater environment. The range finder application aims to improve the positioning accuracy of the unserwater vehicle like remotely operated underwater vehicle (ROV) of which motion is calculated by a IMU sensor with Kalman filter. Generally, an emitter like LASER diode (LD) or Light emitted diode (LED) should be set around a detector like Photo Diode (PD) or image sensor to measure the distance. In the case that synchronized clock at both the emitter and the detector is available using the pulse based time of flight (PB-ToF) method using image sensor, the emitter can be set apart from the detector. Then, we apply the range finder using the image sensor to measure the distance between sea surface and drifting underwater observation system precisely. In the paper, the retailed PB-ToF image sensor is rebuilt to be applicable to our purpose. Then, we apply the rebuilt range finder to measure the distance between the emitter and the detector in the underwater environment.