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Research on the Applications of EKF-SLAM Algorithm to the Localization of Underwater Vehicles

Author: WangWenJing
Tutor: LiuFanMing
School: Harbin Engineering University
Course: Navigation,Guidance and Control
Keywords: Underwater navigation The synchronization composition and positioning Extended Kalman filter Compression filter Data Association
CLC: U666.1
Type: Master's thesis
Year: 2007
Downloads: 383
Quote: 17
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Abstract


Navigation technology is one of the key technologies of the underwater vehicle high-precision navigation and positioning to complete the task with a decisive role in its safe navigation and high efficiency . Synchronous composition and positioning (SLAM, Simultaneous Localization and Mapping) algorithm does not require a priori information of the underwater environment Figure auxiliary aircraft underwater movement , the use of external sensors such as its own portable sonar sensing the environment , extracting environment useful information , and use the information for positioning itself , at the same time , the construction of an underwater environment feature map . The paper described the principle of the SLAM algorithm , the convergence of the algorithm environment map . In addition , in-depth analysis of the SLAM algorithm application computing complexity and data related issues and their impact on the system caused by the two key issues . Nonlinear state and observation of the underwater vehicle model to discuss the implementation process of the system based on the extended Kalman filter (EKF) SLAM algorithm , and the two practices often used underwater vehicle , carried out simulation experiments . Simulation results show that , relative to a simple push -bit method , the algorithm can improve the positioning accuracy of the system , and also verify the feasibility of the algorithm in underwater navigation applications . For underwater vehicle navigation a long time , it may be the problem of excessive computational burden , starting from the source of the computational complexity of the algorithm , the algorithm proposed some optimization measures to reduce online computation . Data association algorithm due to the complexity of the underwater environment, a higher demand , discussed practical nearest neighbor data association algorithm based on the method proposed to reduce the associated ambiguity in order to reduce the probability of error associated to improve associated with performance , laid a foundation for the algorithm is applied underwater vehicle navigation and positioning .

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CLC: > Transportation > Waterway transport > Marine Engineering > Navigation equipment, acoustic equipment > Navigation equipment
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