SIA OpenIR  > 水下机器人研究室
Alternative TitleResearch on Positioning Techonology of Underwater Vehicle by Fusing Monocular Vision and Motion Sensors
Thesis Advisor王晓辉
Keyword水下机器人 数据融合 粒子滤波 相对位置估计
Call NumberTP242/L33/2010
Degree Discipline模式识别与智能系统
Degree Name博士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractBased on the Chinese National 863 project and the CAS Innovation project, the research in this dissertation is focused on the positioning technology of underwater vehicle by fusing monocular vision and motion sensors. The basic idea of obtaining the relative position between AUV(Autonomous Underwater Vehicle) and target is estimating the position state of AUV and target simultaneously. In the dissertation the state equations and measurement equations which are necessary for optimal state estimation are designed. Some important parameters in these equations are obtained by modeling for sensors. After analyzing the drawback of conventional nonlinear state estimation, an improved PF algorithm is proposed for this special strong nonlinear estimation problem, and a simple and practical multirate fusion algorithm is proposed to fuse the measurement value in different frequency. It can be seen from the simulation that when the vehicle moved with non zero-bearing rate, the relative position can be obtained effectively and reliably by improved multirate PF method. The experiment done on-land showed the limitation of method by fusing monocular vision and IMU (Inertial Measurement Value). The experiment done underwater showed that the DVL(Doppler Velocity Log) can make up for the deficiency and the relative position can be obtained accurately, effectively and reliably by fusing the information from  monocular vision, IMU and DVL. The research in the dissertation showed that fusion method from motion sensors and monocular is an effective and feasible position method for IAUV (Intervention Autonomous Underwater Vehicle) and it lays the foundation for the autonomous intervention of underwater vehicle.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
李强. 基于单目视觉和运动传感器信息融合的水下机器人定位技术研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2010.
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基于单目视觉和运动传感器信息融合的水下机(1978KB) 开放获取LicenseApplication Full Text
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