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Navigation positioning algorithm for underwater gliders in three-dimensional space
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
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1269-1274
收录类别EI ; CPCI(ISTP)
EI收录号20161402187725
WOS记录号WOS:000380502300233
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17502
专题水下机器人研究室
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, United States
推荐引用方式
GB/T 7714
Sun J,Yu JC,Zhang AQ,et al. Navigation positioning algorithm for underwater gliders in three-dimensional space[C]. Piscataway, NJ, USA:IEEE,2015:1269-1274.
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