Underwater Simultaneous Localization and Mapping Based on Forward-looking Sonar

被引：2
|
作者：
Zhang, Tiedong [1 ]
Zeng, Wenjing [1 ]
Wan, Lei [1 ]
机构：
[1] Harbin Engn Univ, Natl Key Lab Technol Autonomous Underwater Vehicl, Harbin 150001, Heilongjiang, Peoples R China
来源：
JOURNAL OF MARINE SCIENCE AND APPLICATION | 2011年 / 10卷 / 03期
基金：
中国国家自然科学基金;
关键词：
simultaneous localization and mapping (SLAM); looking forward sonar; extended Kalman filter (EKF);
D O I：
10.1007/s11804-011-1082-1
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
A method of underwater simultaneous localization and mapping (SLAM) based on forward-looking sonar was proposed in this paper. Positions of objects were obtained by the forward-looking sonar, and an improved association method based on an ant colony algorithm was introduced to estimate the positions. In order to improve the precision of the positions, the extended Kalman filter (EKF) was adopted. The presented algorithm was tested in a tank, and the maximum estimation error of SLAM gained was 0.25 m. The tests verify that this method can maintain better association efficiency and reduce navigation error.
引用
收藏
页码：371 / 376
页数：6
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