Underwater Simultaneous Localization and Mapping Based on Forward-looking Sonar  

作　　者：Tiedong Zhang Wenjing Zeng Lei Wan 

机构地区：[1]National Key Laboratory of Technology of Autonomous Underwater Vehicles, Harbin Engineering University,Harbin 150001, China

出　　处：《Journal of Marine Science and Application》2011年第3期371-376,共6页船舶与海洋工程学报（英文版）

基　　金：Supported by the National Natural Science Foundation of China(51009040);National Defence Key Laboratory of Autonomous Underwater Vehicle Technology(2008002);Scientific Service Special Funds of University in China(E091002)

摘　　要：A method of underwater simultaneous localization and mapping （SLAM） based on forward-looking sonar was proposed in this paper. Positions of objects were obtained by the forward-looking sonar, and an improved association method based on an ant colony algorithm was introduced to estimate the positions. In order to improve the precision of the positions, the extended Kalman filter （EKF） was adopted. The presented algorithm was tested in a tank, and the maximum estimation error of SLAM gained was 0.25 m. The tests verify that this method can maintain better association efficiency and reduce navigatioJ~ error.

关 键 词：simultaneous localization and mapping （SLAM） looking forward sonar extended Kalman filter （EKF） 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TN926.3[自动化与计算机技术—控制科学与工程]