This paper proposes an improved Gaussian particle filter integratingthe Artificial Fish School Algorithm to optimise the measured values to improve the overall estimation accuracy of the system.Meanwhile,it also solve...This paper proposes an improved Gaussian particle filter integratingthe Artificial Fish School Algorithm to optimise the measured values to improve the overall estimation accuracy of the system.Meanwhile,it also solves the problems of susceptibility to interference and insufficient estimation accuracy in nonlinear systems.Furthermore,since the calculation time of the fusion algorithm increases,in order to ensure the speed of state estimation,the linear transformation of standard particle swarm is used to replace the particle sampling link of Gaussian particle filter.Simulation results show that the calculation speed of a fast Gaussian Particle Filter based on the Artificial Fish School Algorithm is 21.7%faster than the Particle Filter based on the Artificial Fish School Algorithm.Compared with Particle Filter,Gaussian particle filter,and the Artificial Fish School Algorithm,the proposed algorithm has a higher accuracy.展开更多
This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework i...This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow （underwater acoustic images） is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust.展开更多
基金supported by Aeronautical Science Founda-tion of China[grant numbers 2018ZC52037,2017ZC52017]and National Natural Science Foundation of China[grant number 51505221].
文摘This paper proposes an improved Gaussian particle filter integratingthe Artificial Fish School Algorithm to optimise the measured values to improve the overall estimation accuracy of the system.Meanwhile,it also solves the problems of susceptibility to interference and insufficient estimation accuracy in nonlinear systems.Furthermore,since the calculation time of the fusion algorithm increases,in order to ensure the speed of state estimation,the linear transformation of standard particle swarm is used to replace the particle sampling link of Gaussian particle filter.Simulation results show that the calculation speed of a fast Gaussian Particle Filter based on the Artificial Fish School Algorithm is 21.7%faster than the Particle Filter based on the Artificial Fish School Algorithm.Compared with Particle Filter,Gaussian particle filter,and the Artificial Fish School Algorithm,the proposed algorithm has a higher accuracy.
基金supported by the National Natural Science Foundation of China(Grant No.51009040)Heilongjiang Postdoctoral Fund(Grant No.LBH-Z11205)+1 种基金the National High Technology Research and Development Program of China(863 Program,Grant No.2011AA09A106)the China Postdoctoral Science Foundation(Grant No.2012M510928)
文摘This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow （underwater acoustic images） is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust.
