A UAV-USV Collaborative Water Depth Inversion Model Based on Multi-Modal Heterogeneous Sensors

Lin Zibo; Lai Yunshan; Zhang Runda

doi:10.11993/j.issn.2096-3920.2026-0006

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Lin Zibo, Lai Yunshan, Zhang Runda. A UAV-USV Collaborative Water Depth Inversion Model Based on Multi-Modal Heterogeneous Sensors[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2026-0006

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Lin Zibo, Lai Yunshan, Zhang Runda. A UAV-USV Collaborative Water Depth Inversion Model Based on Multi-Modal Heterogeneous Sensors[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2026-0006

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A UAV-USV Collaborative Water Depth Inversion Model Based on Multi-Modal Heterogeneous Sensors

doi: 10.11993/j.issn.2096-3920.2026-0006

Guangzhou Maritime Surveying and Mapping Center, South China Navigation Guarantee Center, Ministry of Transport, Guangzhou 510000, China

Received Date: 2026-01-07
Accepted Date: 2026-03-27
Rev Recd Date: 2026-03-26

Available Online: 2026-08-28

Abstract

Abstract

In response to the low accuracy of water depth inversion in complex water environments using a single remote sensing platform or homogeneous data, this paper proposes a collaborative water depth inversion model between unmanned aerial vehicles and unmanned ships based on multimodal heterogeneous sensors. The model first extracts the target water body through multi spectral index joint extraction, and then integrates dual platform multimodal sensor data. It uses gradient boosting decision tree (GBDT) to mine nonlinear mapping relationships and invert water depth. The experiment shows that the model has a coefficient of determination of 0.971, a root mean square error of 0.31 m, and the water depth fluctuation is controlled within ± 0.2 m. The accuracy is significantly better than traditional comparison methods.
- Multi-modal heterogeneous data,
- Atmospheric correction,
- Gradient boosting decision tree,
- NDWI,
- Water depth inversion model

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References(14)

References

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