Detailed 3D seafloor imaging of Kagoshima Bay by AUV Tri-TON2
Detailed 3D seafloor imaging of Kagoshima Bay by AUV Tri-TON2
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DOI：
10.1109/ut.2015.7108314
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发表时间：
2015-05
期刊：
影响因子：
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通讯作者：
Yoshiki Sato;T. Maki;T. Matsuda;T. Sakamaki
中科院分区：
文献类型：
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作者：
Yoshiki Sato;T. Maki;T. Matsuda;T. Sakamaki
悬停型AUV Tri-TON 2由东京大学工业科学研究所于2013年开发。自主式潜水器是作为一个国家项目的试验台建造的，该项目旨在开发估算水下热液矿床矿石储量的仪器。AUV的使命是海底热液喷口区三维成像。具体来说，AUV有两个成像仪器：一个向前看，一个向下看。成像仪由照相机、用于光切测距系统的片状激光器和闪光灯组成。为了能够真实的估计水下机器人的位置和姿态，水下机器人采用基于超声波测距的声定位装置代替传统的惯性导航系统。AUV通过与海底站的相互声学定位来估计其位置。此外，AUV使用多普勒测速仪和光纤陀螺进行航位推算。AUV的性能通过一系列的水槽和海上实验进行了验证。本文介绍了Tri-TON 2在内浦湾和鹿儿岛湾海底的观测结果。在内浦湾的实验中，验证了自位置估计的性能。之后，AUV成功地对鹿儿岛湾的管虫群进行了成像。
The hovering type AUV Tri-TON 2 was developed by the Institute of Industrial Science, the University of Tokyo in 2013. The AUV was constructed as a test bed for a national project to develop instruments to estimate ore reserves in underwater hydrothermal deposits. The mission of the AUV is seafloor 3D imaging of hydrothermal vent fields. Specifically, the AUV has two wets of imaging instruments: one looking forward and one looking down. The imaging instrument consists of a camera, a sheet laser for light section ranging system, and a flash. In order to estimate its position and orientation in real time, the AUV uses a SBL-based acoustic localization device instead of a conventional inertial navigation system. The AUV estimates its position by mutual acoustic positioning with a seafloor station. In addition, the AUV uses a Doppler velocity log and a fiber optic gyro for dead reckoning. The performance of the AUV was verified through a series of tank and sea experiments. In this paper, the results of seafloor observation by Tri-TON 2 in Uchiura Bay and Kagoshima Bay are described. During the experiment at Uchiura Bay, performance of the self-position estimation was verified. Afterwards, the AUV succeeded in imaging tubeworm colonies in Kagoshima Bay.