Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench  

作　　者：Jian WANG Yuan-gui TANG Chuan-xu CHEN Ji-xu LI Cong CHEN Ai-qun ZHANG Yi-ping LI Shuo LI 

机构地区：[1]State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China [2]Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China [3]Institute of Deep-sea Science and Engineering,Chinese Academy of Sciences,Sanya 572000,China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2020年第5期749-759,共11页信息与电子工程前沿（英文版）

基　　金：Project supported by the National Key R&D Program of China(Nos.2018YFC0308804 and 2016YFC0300800);the Strategic Priority Research Program of Chinese Academy of Sciences(No.XDB06050200)。

摘　　要：The maximum ocean depth so far reported is about 11000 m,and is located in the Mariana Trench in the Western Pacific Ocean.The hybrid unmanned underwater vehicle,Haidou,is developed to perform scientific survey at the deepest parts of the Earth oceans.For vehicles working at the full-ocean depth,acoustic positioning is the most effective and popular method.The 11000 m class acoustic positioning system is relatively massive and complex,and it requires specialized research vessels equipped with compatible acoustic instruments.As a compact testbed platform,it is impractical for Haidou to carry an LBL/USBL beacon with its large volume and weight.During the descent to about 11000 m,horizontal drift could not be eliminated because of the hydrodynamics and uncertain ocean currents in the sea trials.The maximum depth recorded by Haidou is 10905 m,and determining the precise location of the deepest point is challenging.With the bathymetric map produced by a multibeam sonar,the terrain contour matching(TERCOM)method is adopted for terrain matching localization.TERCOM is stable in providing an accurate position because of its insensitivity to the initial position errors.The final matching results show the best estimate of location in the reference terrain map.

关 键 词：Hybrid underwater vehicle Full-ocean depth Challenger Deep Mariana Trench Terrain contour matching 

分 类 号：P715[天文地球—海洋科学] TP242[自动化与计算机技术—检测技术与自动化装置]