基于磁信标的水下SLAM方法

常 帅; 付晓梅; 张翠翠; 赵玉新; 杜 雪

doi:10.11993/j.issn.2096-3920.2019.03.007

基于磁信标的水下SLAM方法

doi: 10.11993/j.issn.2096-3920.2019.03.007

1.
天津大学海洋科学与技术学院, 天津, 300072
2.
哈尔滨工程大学自动化学院, 黑龙江哈尔滨, 150001

基金项目: 国家自然科学基金项目资助(61571323;41806116)

详细信息

作者简介:
常帅(1988-), 男, 博士, 讲师, 主要研究方向为水下导航、地球物理场辅助导航技术.

中图分类号: TJ630.33; U674.941; P318.1
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出版历程
- 刊出日期: 2019-06-30

An Underwater SLAM Approach Using Magnetic Beacons

1.
School of Marine Science and Technology, Tianjin University, Tianjin 300072, China
2.
College of Automation, Harbin Engineering University, Harbin 150001, China

摘要

摘要: 水下同步定位与构图(SLAM)由于可在未知环境下实现长时间高精度导航估计, 已成为近年来UUV 自主导航的重要发展趋势之一。无人水下航行器(UUV)在运动过程中, 以航行区域的背景地磁图为辅助提取磁信标磁场矢量和梯度特征。为增强SLAM技术在自然特征欠缺环境中的有效性, 同时避免水下磁信标磁矩未知性对反演的影响, 文中采用人工磁信标作为路标, 为SLAM导航系统的状态更新提供观测信息。并采用张量欧拉反褶积(TED)和磁场梯度张量特征分析(EGT)相联合的反演方法对磁信标进行单点反演定位, 在此基础上提出连续反演结果收敛性判定准则, 准确提取磁信标与UUV之间的相对位置信息, 进而构建SLAM系统的线性观测量。最后通过设计的3种磁信标分布场景对基于磁信标反演定位的SLAM系统性能开展了试验验证, 基于试验结果分析了磁信标分布状态对系统性能的影响, 表明了磁信标辅助方式在水下SLAM研究中的有效性。文中的研究可为UUV 长航时水下安全隐蔽作业提供参考。
- 无人水下航行器 /
- 水下同步定位与构图 /
- 磁信标 /
- 位置反演
Abstract: To improve the effectiveness of simultaneous localization and mapping(SLAM) in the areas with poor natural features and avoid the difficulty introduced by the unknown magnetic moments of beacons in inversion, the artificial magnetic beacons are treated as landmarks to provide observation information for state update in SLAM. The tensor Euler deconvolution and eigenanalysis of the magnetic gradient tensor(TED+EGT) approach is taken to make single-point relative position inversion during navigation. Then, a convergence judgment criteria of the continuous inversion is proposed to extract the relative positions between beacons and UUV for establishing the linear measurements in SLAM model. At last, three scenes of magnetic beacon distribution are designed to verify the effectiveness of the proposed approach. The influence of magnetic beacons’ distribution on the system performance is analyzed, and the effectiveness of the approach is verified. This research may help improve UUV’s ability in long-time underwater covert operations.
- unmanned undersea vehicle(UUV) /
- simultaneous localization and mapping(SLAM) /
- magnetic beacon /
- position inversion

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参考文献(22)

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