| The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter | |
Xu HL(徐红丽) ; Chen G(陈巩); Jia QY(贾庆勇); Cao S(曹帅); Jiang M(蒋敏)
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| Department | 海洋信息技术装备中心 |
| Conference Name | OCEANS 2016 - Shanghai |
| Conference Date | April 10-13, 2016 |
| Conference Place | Shanghai, China |
| Source Publication | OCEANS 2016 - Shanghai |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2016 | |
| Pages | 1-4 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20162902613092 |
| WOS ID | WOS:000386521800068 |
| Contribution Rank | 1 |
| ISSN | 0197-7385 |
| ISBN | 978-1-4673-9724-7 |
| Keyword | Auv Slope Estimate Bottom-following Ekf |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/18761 |
| Collection | 海洋信息技术装备中心 |
| Corresponding Author | Chen G(陈巩) |
| Affiliation | State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| Recommended Citation GB/T 7714 | 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]. Piscataway, NJ, USA:IEEE,2016:1-4. |
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| The research on sea-（294KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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