摘要
针对自主式水下机器人(AUV)长时间水下作业时精确定位的需求,以多波束测深仪作为水下地形测量手段,利用极大似然法则对地形特征进行相关性分析,提出了一种基于极大似然估计的水下地形匹配定位方法.针对平坦地形区域似然函数出现的伪波峰的影响,引入费希尔判据准则对其进行约束,有效地剔除了伪峰值点,增强了对地形平坦区域地形特征的识别率.基于某电子海图数据和多波束测深仪海上试验数据的仿真结果,验证了该方法的有效性和实用性.
Aiming at the precise positioning of autonomous underwater vehicle （AUV） during submerged operation for long periods of time, an underwater terrain matching positioning method based on maximal likelihood estimation （MLE） is proposed. In this method, multibeam echo sounder （MBES） is taken as the underwater terrain measuring means, and maximum likelihood algorithm is used for correlation analysis of terrain character. For the influence from false peaks of likelihood function at flat bottom area, the Fisher criterion is introduced to restrict it. The false peaks are eliminated effectively and the discrimination of flat bottom area is enhanced. The simulation results based on one electronic chart data and sea test data from a multibeam echo sounder show that the proposed method is effective and feasible.
出处
《机器人》
EI
CSCD
北大核心
2012年第5期559-565,共7页
Robot
基金
国家自然科学基金资助项目(50909025
51179035)
关键词
多波束测深仪
极大似然估计
地形匹配
费希尔判据
multibeam echo sounder
maximal likelihood estimation （MLE）
terrain matching
Fisher criterion
