Underwater Terrain Positioning Method Based on Least Squares
Estimation for AUV |
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| Authors: | CHEN Peng-yun LI Ye SU Yu-min CHEN Xiao-long and JIANG Yan-qing |
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| Institution: | Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University,
Harbin 150001, China;Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University,
Harbin 150001, China;Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University,
Harbin 150001, China;China Ship Development and Design Center, Wuhan 430064, China;Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University,
Harbin 150001, China |
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| Abstract: | To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrain-matching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation (LSE) is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning. |
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| Keywords: | multi-beam sounding data underwater digital terrain map fractional Brownian motion least squares estimation terrain matching positioning fisher discriminant |
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