摘要
实现自主导航是AUV发展与应用需要解决的关键技术之一,针对这个问题设计了一种基于同步定位与地图创建的自主式水下导航系统,使用扩展卡尔曼滤波作为滤波框架,对系统状态模型、系统观测模型、数据关联、状态估计过程以及新特征加入等问题进行了讨论。该系统相比惯性导航系统精度显著提高,同时能够获得精确可靠的环境地图,为实现AUV自主导航提供了一种有效途径。
Autonomous navigation is one of the key technologies for the development and application of the AUV. An underwater navigation system based on the simultaneous localization and mapping is proposed,the extended Kalman filter is used for the filter frame,the system state model,observe model,data association,process estimation and new features adding are discussed. The SLAM based underwater navigation system could constrain the cumulative error of autonomous localization,and obtain drastically improved accuracy compared with the dead-reckoning. Additionally,a high precision environment mapping is built simultaneously. The proposed navigation algorithm provides an effective pathway to the AUV autonomous navigation.
出处
《山西电子技术》
2015年第1期55-57,共3页
Shanxi Electronic Technology
关键词
水下航行器
自主导航
扩展卡尔曼滤波
underwater vehicle
autonomous navigation
extended Kalman filter