CLC number: TP242.6; TP273
On-line Access: 2020-05-18
Received: 2019-10-11
Revision Accepted: 2020-01-14
Crosschecked: 2020-04-01
Cited: 0
Clicked: 5562
Citations: Bibtex RefMan EndNote GB/T7714
Jian Wang, Yuan-gui Tang, Chuan-xu Chen, Ji-xu Li, Cong Chen, Ai-qun Zhang, Yi-ping Li, Shuo Li. Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.1900556 @article{title="Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench", %0 Journal Article TY - JOUR
自主遥控水下机器人在马里亚纳海沟挑战者深渊基于地形匹配定位1中国科学院沈阳自动化研究所机器人学国家重点实验室,中国沈阳市,110016 2中国科学院机器人与智能制造创新研究院,中国沈阳市,110016 3中国科学院深海科学与工程研究所,中国三亚市,572000 摘要:截至目前,地球海洋最大深度记录约为11 000米,位于西太平洋马里亚纳海沟。海斗号自主遥控水下机器人主要用于地球海洋最深处科学考察。对全海深潜水器而言,声学定位技术最有效且被广为利用。11 000米级声学定位系统相对庞大且复杂,同时需要装备兼容声学设备的专用科考船。作为一个紧凑的测试平台,海斗号无法装备大体积大重量的LBL/USBL。潜水器在下潜至11 000米海试过程中,由于受流体动力学及洋流不确定性影响,其水平漂移难以避免。海斗号记录的最大深度为10 905米,而确定该最深点位置具有一定挑战。基于多波束声呐形成的测深图,可采用地形轮廓匹配(TERCOM)方法进行地形匹配定位。TERCOM方法可稳定推测准确位置,因其对初始位置误差不敏感。最终匹配结果揭示了在参考地形图中的最佳估计位置。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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