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Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench
Alternative Title自主遥控水下机器人在马里亚纳海沟挑战者深渊基于地形匹配定位
Wang J(王健)1,2; Tang YG(唐元贵)1,2; Chen CX(陈传绪)3; Li JX(李吉旭)1,2; Chen C(陈聪)1,2; Zhang AQ(张艾群)1,2,3; Li YP(李一平)1,2; Li S(李硕)1,2
Department水下机器人研究室
Source PublicationFRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING
ISSN2095-9184
2020
Volume21Issue:5Pages:749-759
Indexed BySCI ; EI ; CSCD
EI Accession number20202208709017
WOS IDWOS:000534837900008
CSCD IDCSCD:6728156
Contribution Rank1
Funding OrganizationNational Key R&D Program of China (Nos. 2018YFC0308804 and 2016YFC0300800) ; Strategic Priority Research Program of Chinese Academy of Sciences (No. XDB06050200)
KeywordHybrid underwater vehicle Full-ocean depth Challenger Deep Mariana Trench Terrain contour matching TP242 6 TP273
Abstract

The maximum ocean depth so far reported is about 11 000 m, and is located in the Mariana Trench in the Western Pacific Ocean. The hybrid unmanned underwater vehicle, Haidou, is developed to perform scientific survey at the deepest parts of the Earth oceans. For vehicles working at the full-ocean depth, acoustic positioning is the most effective and popular method. The 11 000 m class acoustic positioning system is relatively massive and complex, and it requires specialized research vessels equipped with compatible acoustic instruments. As a compact testbed platform, it is impractical for Haidou to carry an LBL/USBL beacon with its large volume and weight. During the descent to about 11 000 m, horizontal drift could not be eliminated because of the hydrodynamics and uncertain ocean currents in the sea trials. The maximum depth recorded by Haidou is 10 905 m, and determining the precise location of the deepest point is challenging. With the bathymetric map produced by a multibeam sonar, the terrain contour matching (TERCOM) method is adopted for terrain matching localization. TERCOM is stable in providing an accurate position because of its insensitivity to the initial position errors. The final matching results show the best estimate of location in the reference terrain map.

Language英语
WOS SubjectComputer Science, Information Systems ; Computer Science, Software Engineering ; Engineering, Electrical & Electronic
WOS KeywordALGORITHM
WOS Research AreaComputer Science ; Engineering
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26935
Collection水下机器人研究室
沈阳自动化所
Corresponding AuthorTang YG(唐元贵)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.Institute of Deep-sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, China
Recommended Citation
GB/T 7714
Wang J,Tang YG,Chen CX,et al. Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench[J]. FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING,2020,21(5):749-759.
APA Wang J.,Tang YG.,Chen CX.,Li JX.,Chen C.,...&Li S.(2020).Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench.FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING,21(5),749-759.
MLA Wang J,et al."Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench".FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING 21.5(2020):749-759.
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