A Research on the Simultaneous Localization Method in the Process of Autonomous Underwater Vehicle Homing with Unknown Varying Measurement Error
Source abstract
Abstract
We propose an acoustic-based framework for automatically homing an Autonomous Underwater Vehicle (AUV) to the fixed docking station (F-DS) and mobile docking station (M-DS). The proposed framework contains a simultaneous localization method of AUV and docking station (DS) and a guidance method based on the position information. The Simultaneous localization and mapping (SLAM) algorithm is not available as the statistical characteristics of the measurement error of the observation system are unknown. To solve this problem, we propose a data pre-processing method. Firstly, the measurement error data of acoustic sensor are collected. Then, We propose a Variational Auto-Encoder (VAE) based Gaussian mixture model (GMM) for estimating the statistical characteristics of measurement error. Finally, we propose a support vector regression (SVR) algorithm to fit the non-linear relationship between the statistical characteristics of measurement error and its corresponding working distance. We adopt a guidance method based on line-of-sight (LOS) and path tracking method for homing an AUV to the fixed docking station (F-DS) and mobile docking station (M-DS). The lake experimental data are used to verify the performance of the localization with the estimated statistical characteristics of measurement error.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Underwater Vehicles and Communication Systems · Water Quality Monitoring Technologies · Target Tracking and Data Fusion in Sensor Networks
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chines Academy of Sciences, Shenyang 110016, China
Institutes for Robotics and Intelligent Manufacturing, Chines Academy of Sciences, Shenyang 110169, China
University of Chines Academy of Sciences, Beijing 100049, China
Funding
Joint fund for equipment pre-research of the Chinese academy of sciences
References (36)
Show source-provided references
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