SIA OpenIR  > 海洋信息技术装备中心
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)
Department海洋信息技术装备中心
Conference NameOCEANS 2016 - Shanghai
Conference DateApril 10-13, 2016
Conference PlaceShanghai, China
Source PublicationOCEANS 2016 - Shanghai
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2016
Pages1-4
Indexed ByEI ; CPCI(ISTP)
EI Accession number20162902613092
WOS IDWOS:000386521800068
Contribution Rank1
ISSN0197-7385
ISBN978-1-4673-9724-7
KeywordAuv Slope Estimate Bottom-following Ekf
AbstractThis 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
Identifierhttp://ir.sia.cn/handle/173321/18761
Collection海洋信息技术装备中心
Corresponding AuthorChen G(陈巩)
AffiliationState 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.
Files in This Item: Download All
File Name/Size DocType Version Access License
The research on sea-(294KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Xu HL(徐红丽)]'s Articles
[Chen G(陈巩)]'s Articles
[Jia QY(贾庆勇)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Xu HL(徐红丽)]'s Articles
[Chen G(陈巩)]'s Articles
[Jia QY(贾庆勇)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Xu HL(徐红丽)]'s Articles
[Chen G(陈巩)]'s Articles
[Jia QY(贾庆勇)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.