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Volume 27 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(3): 277-283
CHANG Shuai, FU Xiao-mei, ZHANG Cui-cui, ZHAO Yu-xin, DU Xue. An Underwater SLAM Approach Using Magnetic Beacons[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 277-283. doi: 10.11993/j.issn.2096-3920.2019.03.007
Citation: CHANG Shuai, FU Xiao-mei, ZHANG Cui-cui, ZHAO Yu-xin, DU Xue. An Underwater SLAM Approach Using Magnetic Beacons[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 277-283. doi: 10.11993/j.issn.2096-3920.2019.03.007
shu

An Underwater SLAM Approach Using Magnetic Beacons

doi: 10.11993/j.issn.2096-3920.2019.03.007
  • 1.

    School of Marine Science and Technology, Tianjin University, Tianjin 300072, China

  • 2.

    College of Automation, Harbin Engineering University, Harbin 150001, China

  • Publish Date: 2019-06-30
    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.

     

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