水下机器人标图中的传感器关联信息处理方法

Processing of dependent sensor information for AUV in mapping

分析了水下机器人在标图任务中对传感器关联信息处理的必要性,通过采用全局栅格划分和证据理论方法,把传感器信息进行可信度分配并在栅格中累积可信数,以此作为证据来修正目标的位置,实例证明该方法提高了水下机器人对目标定位的准确性.

The necessity of processing the depent sensor information for AUV in mapping had been justified.Different degrees of credibility were assigned to the sensor information,accumulated in the grids and used as evidence to modify the position of an obstacle using the global grid method and the evidence theory.It had been proved with typical examples that the method proposed improves the AUV's accuracy of obstacle location.