Shallow waters SLAM experiments on meredith AUV using forward looking sonar
Shallow waters SLAM experiments on meredith AUV using forward looking sonar
复制标题
使用前视声纳在 Meredith AUV 上进行浅水 SLAM 实验
DOI：
10.23919/oceans.2009.5422422
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
B. Kalyan
中科院分区：
文献类型：
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作者：
A. Koh;W. S. Wijesoma;S. L. Pua;K. W. Lee;B. Kalyan
本文介绍了海试实验进行在线EKF-SLAM船上的Meredith自主水下航行器（AUV）的物理实现验证在浅海沿海沃茨。本文详细介绍了EKF-SLAM算法在AUV上实时运行以执行基于特征的导航的硬件和软件实现。本文还介绍了Meredith上的计算资源和便于实时SLAM演示的硬件配置。SLAM算法的定位估计与GPS和部署的目标提供的地面实况进行了验证。基于DVL和FOG的用于车辆自主的航位推算导航解决方案也可用于结果验证。
This paper describes the sea trial experiments conducted to validate the physical implementation of online EKF-SLAM onboard the Meredith Autonomous Underwater Vehicle (AUV) in shallow coastal waters. This paper provides details of the hardware and software implementations of the EKF-SLAM algorithms running real-time on the AUV to perform feature-based navigation. The computation resources onboard Meredith and the hardware configuration that facilitated the real-time SLAM demonstration are also featured in this paper. The localization estimates from the SLAM algorithm were validated with ground truth provided by GPS and the deployed targets. Dead-reckoning navigation solution based on DVL and FOGs that were used for vehicle autonomy were also made available for results validation.