基于改进粒子滤波的AUV海底地形辅助定位方法

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Title:

Seabed terrain-aided positioning method based on improved particle filtering for AUVs

作者:

韩月^1,2, 陈鹏云², 沈鹏³

1. 太原旅游职业学院 现代教育信息中心，山西 太原 030032;
2. 中北大学 机电工程学院，山西 太原 030051;
3. 国家深海基地管理中心，山东 青岛 266237

Author(s):

HAN Yue^1,2, 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

关键词:

水下无人航行器; 水下环境; 多波束测深; 地形辅助定位; Bayesian估计; 粒子滤波; 辅助采样; 半物理仿真

Keywords:

autonomous underwater vehicle; underwater environment; multi-beam sounding; terrain-aided positioning; Bayesian estimation; particle filter; auxiliary sampling; semi-physical simulation

分类号:

TP24

DOI:

10.11992/tis.201903027

摘要:

针对自主式水下无人航行器的地形辅助导航问题，提出一种基于粒子滤波的地形辅助定位方法。为了解决粒子滤波的“粒子贫化”问题，引入了辅助采样，提出一种基于辅助采样粒子滤波的海底地形辅助定位方法，减小了由于重采样带来的粒子多样性的损失。基于半物理测试平台的仿真实验表明：本文所提出方法的精度较高，可适应不同地形特征下的地形辅助定位，可满足水下无人航行器(autonomous underwater vehicle, AUV) 水下导航定位的需求。

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.