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题名: Navigation positioning algorithm for underwater gliders in three-dimensional space
作者: Sun J(孙洁); Yu JC(俞建成); Zhang AQ(张艾群); Zhang FM(张福民)
作者部门: 水下机器人研究室
会议名称: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期: June 8-12, 2015
会议地点: Shenyang, China
会议录: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 1269-1274
收录类别: EI ; CPCI(ISTP)
ISSN号: 2379-7711
ISBN号: 978-1-4799-8730-6
摘要: This paper studies the simultaneous localization and mapping (SLAM) algorithm based on the extended Kalman filter (EKF-SLAM) to achieve the navigation positioning of underwater gliders in the three-dimensional space, as well as to estimate the position of acoustic beacons which are used to measure distances as gliders move. The model of SLAM system consists of two parts: one part is the glider model, calculating the three-dimensional kinematic characteristics of the glider, expanding with the current velocity, and the other part is the beacon model, in order to reckon the planar coordinates of three acoustic beacons without a prior known positions. Based on measurements of distances between the glider and beacons, the position of glider and beacons can be estimated synchronously, utilizing the EKF method. Since the glider runs more than one cycle, the estimation of states in EKF-SLAM system can be optimized, combining with measured location of the glider at the sea surface gained by the global positioning system (GPS). The simulation results indicate that the EKF-SLAM algorithm for glider positioning is correct and effective, which also has high location accuracy.
语种: 英语
产权排序: 1
WOS记录号: WOS:000380502300233
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17502
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Sun J,Yu JC,Zhang AQ,et al. Navigation positioning algorithm for underwater gliders in three-dimensional space[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.
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