水下石油管道漏油检测定位的粒子滤波SLAM算法  

Particle filter SLAM algorithm for underwater oil pipeline leakage detection and positioning

作　　者：袁赣南[1] 王丹丹[1] 魏延辉[1] 洪伟[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国惯性技术学报》2013年第2期204-208,共5页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金资助项目(60904087);黑龙江省博士后科研启动基金资助项目(LBH-Q09127)

摘　　要：针对海底石油管道漏油位置检测定位这一问题,提出了捷联惯性导航系统与同时构图定位算法相组合的水下导航定位方法。利用声纳传感器采集石油管道的特征位置信息,在同时构图定位算法的作用下构建管道地图并获得高精度定位信息。然后利用粒子滤波算法将上述获得的定位信息与捷联惯性导航系统相结合,以补偿其位置误差积累。仿真实验结果显示所述组合方法的定位精度较高,达到总航程的0.1%。In view of the problem of oil pipe leakage detection positioning under the sea, an integrated navigation positioning method was put forward, which combined the strap-down inertial navigation system （SINS） with the simultaneous localization and mapping（SLAM） algorithm. The feature position information of oil pipeline was collected by sonar sensor, and under the action of SLAM algorithm, the pipeline map was built and high precision positioning information was obtained. Then the position error accumulation was compensated by using the particle filter algorithm to combine the obtained location information with SINS. The simulation experiment results show that the positioning precision is increased to about 0.1% of the total voyage.

关 键 词：水下导航定位 同时定位与构图 地图特征 粒子滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]