基于侧扫声纳的自主水下航行器机载SLAM系统

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) Pub Date : 2016-11-01 DOI:10.1109/AUV.2016.7778671

K. Siantidis

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引用次数: 15

摘要

本文介绍了一种适用于配备航位推算系统和侧扫声纳的自主水下航行器(AUV)的同时定位与测绘(SLAM)系统。该系统是为了补偿水下航行器导航系统在执行任务期间的位置漂移而开发的。该处理链由自动地标检测器、自动数据关联模块和SLAM滤波器组成。本文的结果表明，我们的机载SLAM方法成功地减少了导航漂移。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Side scan sonar based onboard SLAM system for autonomous underwater vehicles

The paper describes a Simultaneous Localization and Mapping (SLAM) system suitable for an autonomous underwater vehicle (AUV) equipped with a dead reckoning system and a side scan sonar (SSS). The system was developed with the intention to compensate position drifts of an AUV navigation system during a mission. The processing chain consists of an automatic landmark detector, an automatic data association module and the SLAM filter. This paper presents results showing that our onboard SLAM approach successfully reduces navigational drifts.

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2016 IEEE/OES Autonomous Underwater Vehicles (AUV)

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