基于侧扫声纳的自主水下机器人海底管线跟踪方法及装置
By combining side-scan sonar and Kalman filter, the forward-looking distance and heading of the underwater robot are dynamically adjusted, solving the problems of detecting discontinuities and controlling oscillations in autonomous tracking of subsea pipelines, and achieving high-precision and stable tracking in complex sea conditions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
- Filing Date
- 2026-05-09
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies for autonomous tracking of subsea pipelines suffer from discontinuous and uncertain detection results, and are prone to oscillations during the control process, lacking forward-looking prediction, resulting in insufficient tracking reliability under complex sea conditions.
An autonomous underwater robot based on side-scan sonar is used to track subsea pipelines. A Kalman filter is used for state estimation, and combined with trajectory quality assessment and adaptive line-of-sight guidance law, the forward-looking distance and heading are dynamically adjusted to generate a smooth target tracking trajectory.
It improves the accuracy and stability of submarine pipeline tracking, suppresses the effects of environmental interference and noise, and ensures stable tracking under complex sea conditions.
Smart Images
Figure CN122172201B_ABST