[1]HAN Yue,CHEN Pengyun,SHEN Peng.Seabed terrain-aided positioning method based on improved particle filtering for AUVs[J].CAAI Transactions on Intelligent Systems,2020,15(3):553-559.[doi:10.11992/tis.201903027]
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Seabed terrain-aided positioning method based on improved particle filtering for AUVs

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 15 Number of periods: 2020 3 Page number: 553-559 Column: 学术论文—机器学习 Public date: 2020-05-05
Title:
Seabed terrain-aided positioning method based on improved particle filtering for AUVs
Author(s):
HAN Yue1; 2;  CHEN Pengyun2;  SHEN Peng3
1. Modern Education Information Centre, Taiyuan Tourism College, Taiyuan 030032, China;
2. College of Mechatronic Engineering, North University of China, Taiyuan 030051, China;
3. National Deep Sea Centre, Qingdao 266237, China
Keywords:
autonomous underwater vehicle; underwater environment; multi-beam sounding; terrain-aided positioning; Bayesian estimation; particle filter; auxiliary sampling; semi-physical simulation
CLC:
TP24
DOI:
10.11992/tis.201903027
Abstract:
Focusing on the seabed terrain-aided navigation of autonomous underwater vehicle (AUV), a terrain-aided positioning method based on the particle filtering method is proposed in this study. To solve the particle depletion problem of the particle filtering method, the auxiliary sampling technology is introduced. Then, a terrain-aided positioning method based on the auxiliary sampling particle filtering method, which can reduce the loss of particle diversity caused by resampling, is proposed. Simulation tests based on the semi-physical test platform show that the proposed method has high terrain positioning accuracy and strong adaptability to terrain features, which can meet the demand of AUV navigation.
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