Beam Slice-Based Recognition Method for Acoustic Landmark With Multi-Beam Forward Looking Sonar
Beam Slice-Based Recognition Method for Acoustic Landmark With Multi-Beam Forward Looking Sonar
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DOI：
10.1109/jsen.2017.2755547
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发表时间：
2017-11-01
影响因子：
4.3
通讯作者：
Yu, Son-Cheol
中科院分区：
文献类型：
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作者：
Pyo, Juhyun;Cho, Hyeonwoo;Yu, Son-Cheol
自主式水下航行器（AUV）已被广泛用于许多危险的水下任务。对于这些任务，AUV需要导航辅助设备，例如使用最广泛的主动信标型水下声学地标。它需要沉重的安装负荷和定期维护，价格昂贵的传感器。在本文中，我们提出了一种新的定位方法在浅水多波束前视声纳（MFLS），定位是基于被动型声学地标。拟议的地标包括一个高度可靠和有效的识别方法的AUV的实时使用的混凝土支柱的组合。该地标系统在实际应用中具有免维护、抗海洋生物污损能力强、安装荷载轻、混凝土柱价格低廉等优点。所提出的识别方法分为两个过程来验证地标。首先将一个柱状物体从背景中分离出来，通过阴影的长度计算出柱子的高度，具有非常高的识别率和准确率。通过建模，可以计算从地标到MFLS的距离。所提出的方法基于与地标的位置关系随机更新导航数据。通过水池实验和水下机器人实验验证了所提出的地标及其识别方法的性能。并对识别率和准确率进行了讨论。
Autonomous underwater vehicles (AUVs) have been widely used for many risky underwater tasks. For these tasks, AUVs require navigational aids, such as active beacon-type underwater acoustic landmarks, which are the most widely used. It requires heavy installation loads and regular maintenance with high price sensors. In this paper, we propose a novel localization method in shallow water with a multi-beam forward looking sonar (MFLS), where positioning is based on passive-type acoustic landmarks. The proposed landmark comprises a combination of concrete pillars with a highly reliable and efficient recognition method for the real-time use of AUVs. The proposed landmark system has many advantages in the practical use, such as no maintenance, being strong on the marine bio-fouling, and light installation load with low price concrete pillars. The proposed recognition method is divided into two processes to verify the landmark. First, a pillarlike object is separated from the background, and the height of the pillar is calculated by the length of the shadow, which has a very high recognition rate and accuracy. Through modeling, the distance from the landmark to the MFLS can be calculated. The proposed method stochastically updates the navigation data based on the positional relationship with the landmark. The performance of the proposed landmark and its recognition method is verified through a water tank and field experiments using the AUV (Cyclops). The recognition rate and accuracy are also discussed.