基于SLAM的水下导航算法及仿真分析  

Underwater navigation algorithm based on SLAM and its simulation analysis

作　　者：孙枫[1] 王文晶[1] 刘付强[2] 朱怡[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]北京空间飞行器总体设计部,北京100094

出　　处：《仪器仪表学报》2008年第10期2072-2077,共6页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(60775001)资助项目

摘　　要：起源于移动机器人定位的同步构图定位(simultaneous localization and mapping,SLAM)算法可以克服基于先验图的水下导航算法的不足,实现水下载体的自主导航。本文给出了基于SLAM算法的水下导航算法的系统构建和执行过程,建立了状态方程和观测方程,讨论了新特征加入的问题,并利用模拟数据进行了仿真。仿真结果表明,无论是采用航渡还是区域探索航行方式,该导航算法的定位精度均高于单纯推位方法,具有广阔的应用前景。The simultaneous localization and mapping algorithm, which is originated from mobile robot localization, can overcome the disadvantages of the underwater navigation methods based on prior maps, hence realize true autonomous navigation of the underwater vehicles. The construction and execution of the underwater navigation system based on SLAM are introduced, and the state equation and observation equation are established. Furthermore, the issue of adding new features is discussed, and simulation data are used to test the system performance. Simulation results show that the algorithm can achieve better precision than pure dead-reckoning in both straight sailing and local searching patterns, and has a wide application prospect.

关 键 词：水下导航 同步构冈定位 扩展卡尔曼滤波 仿真 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]