AUV navigation method based on sonar-assisted autonomous navigation

A technology of autonomous navigation and navigation method, applied in directions such as navigation, mapping and navigation, and re-radiation of sound waves, which can solve problems such as the difference between the ideal detection trajectory and the actual value, and the accumulation of positioning errors.

Inactive Publication Date: 2016-02-24
OCEAN UNIV OF CHINA
View PDF3 Cites 18 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned defects existing in the existing AUV navigation module, and propose a AUV navigation method based on sonar-assisted autonomous navigation, which makes up for the problem that there is a difference between the ideal detection trajectory and the actual value of the existing surveying and mapping system. The iSAM algorithm (incremental Smoothing and Mapping, Incremental Smoothing and Mapping Algorithm) runs a strategy of constant item steps to divide the target area into blocks, so that the AUV in the local mapping area can choose to continue to explore unknown areas or return to the previous submarine environment. The decision-making, taking into account the two competing demands of submarine navigation performance and target area coverage, provides a feasible solution for solving the key technical problem of positioning error accumulation during submarine motion observation

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • AUV navigation method based on sonar-assisted autonomous navigation
  • AUV navigation method based on sonar-assisted autonomous navigation
  • AUV navigation method based on sonar-assisted autonomous navigation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0045] The present invention will be further described below in conjunction with accompanying drawing.

[0046] like Figure 1-2 As shown, the AUV navigation method based on sonar-assisted autonomous navigation of the present invention includes the following steps:

[0047] Step 1. The AUV dives into the seabed, and the side-scan sonar works to collect the image features of the seabed;

[0048] Step 2. Perform dimensionality reduction processing on the high-dimensional submarine sonar detection image data:

[0049] Use the bag of words BoW local feature expression model to describe the seabed detection image to meet the rapid response ability to massive observation information;

[0050] Step 3. Calculate the feature saliency rate of the sonar images on both sides respectively:

[0051] The normalized image entropy is used to represent the feature saliency rate of the sonar image,

[0052] S = Σ i ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to an AUV navigation method based on sonar-assisted autonomous navigation, belongs to the technical field of seabed detection, and mainly solves the problem that the ideal detection track of a conventional mapping system is different from an actual value. According to the method, by utilizing an strategy that iSAM (incremental Smoothing and Mapping) algorithm runs at a constant term step number, an object region is partitioned, so that AUV at a local mapping region makes an intelligentized decision on choices of going on exploring unknown regions or performing return visit on the previous seabed environment, two competition appeals about seabed navigation performance and object-region covering rate are both considered, and a feasible plan is provided for solving the key technology problem about position error accumulation when seabed kinetic observation is performed.

Description

technical field [0001] The invention relates to an AUV navigation method based on sonar-assisted autonomous navigation, and belongs to the technical field of seabed detection. Background technique [0002] At present, when AUVs perform surveying and mapping tasks, there are often differences between the ideal detection trajectory and the actual detection trajectory. In theory, according to the preset trajectory, 100% effective coverage of the target sea area can be provided, but the implicit assumption is that any point in the voyage meets the bounded error performance. The characteristic distribution of the environment is unknown. If the mobile observation equipment is not accurately positioned, there will be no high-quality and high-accuracy seabed topographic map. Therefore, how to improve the positioning accuracy of mobile observation equipment has become the technical focus and bottleneck problem in the field of mobile detection. Contents of the invention [0003] T...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S15/89
CPCG01C21/00G01S15/8902
Inventor 何波郭佳年睿沈钺沙启鑫高强冯晨
Owner OCEAN UNIV OF CHINA
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap