Evaluation of position estimation of AUV Tri-TON 2 in real sea experiments
Evaluation of position estimation of AUV Tri-TON 2 in real sea experiments
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DOI：
10.1109/oceans-genova.2015.7271754
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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;H. Mizushima;T. Matsuda;T. Sakamaki
中科院分区：
文献类型：
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作者：
Yoshiki Sato;T. Maki;H. Mizushima;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。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。在我们提出的方法中，从声学定位设备，DVL和FOG的测量被送入一个粒子滤波算法的位置估计。2014年8月，在日本内浦湾35 m深度处评估了使用Tri-TON 2的位置估计方法的有效性。在本文中，详细描述了实验结果。通过比较高精度预校准全球声学定位系统获得的地面实况，对估计位置进行了评价。
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. 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. In our proposed method, the measurements from the acoustic localization device, DVL and FOG are fed into a particle filter algorithm for position estimation. The validity of the position estimation method with Tri-TON 2 was evaluated in Uchiura Bay, Japan in August 2014 at depth of 35 m. In this paper, the results of the experiments are described in detail. The estimated positions were evaluated by comparing the ground truth obtained by a high-accuracy pre-calibrated global acoustic positioning system.