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SIA OpenIR  > 海洋信息技术装备中心  > 会议论文
题名:
The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter
作者: Xu HL(徐红丽); Chen G(陈巩); Jia QY(贾庆勇); Cao S(曹帅); Jiang M(蒋敏)
作者部门: 海洋信息技术装备中心
通讯作者: 陈巩
会议名称: OCEANS 2016 - Shanghai
会议日期: April 10-13, 2016
会议地点: Shanghai, China
会议录: OCEANS 2016 - Shanghai
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2016
页码: 1-4
收录类别: EI ; CPCI（ISTP）
ISSN号: 0197-7385
ISBN号: 978-1-4673-9724-7
关键词: AUV ; Slope estimate ; Bottom-following ; EKF
摘要: This paper studies the problem of undersea bottom-following through using the Autonomous Underwater Vehicle(AUV) equipped with Altimeter and Depth gauge. We can improve the ability of AUV to perceive the information of the seabed by using the Extended Kalman Filter(EKF) to complete the information fusion of data comes from Altimeter and Depth gauge. The seabed terrain slope is estimated by the least square method and then the trend of the seabed terrain can be predicted, which improve the ability of the AUV to track the seabed terrain. In the end, the seabed terrain tracking algorithm was verified by Matlab simulation, and the experimental results showed that the proposed method was effective.
语种: 英语
产权排序: 1
EI收录号: 20162902613092
WOS记录号: WOS:000386521800068
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18761
Appears in Collections:海洋信息技术装备中心_会议论文

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Recommended Citation:
Xu HL,Chen G,Jia QY,et al. The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter[C]. OCEANS 2016 - Shanghai. Shanghai, China. April 10-13, 2016.The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter.
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文件名： The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter.pdf
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