Current progress and development trend of underwater terrain-matching navigation

被引：0

作者：

Zhao X. ^{[1
]}

Zhao J. ^{[1
,2
]}

机构：

[1] School of Geodesy and Geomatics, Wuhan University, Wuhan

[2] Institute of Marine Science and Technology, Wuhan University, Wuhan

来源：

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2023年 / 44卷 / 11期

关键词：

adaptation analysis; data processing in underway depth survey; matching algorithm; matching strategy; route planning; seabed terrain background field; seabed terrain-matching navigation system; seabed topography inversion; sonar sounding;

D O I：

10.11990/jheu.202306025

中图分类号：

学科分类号：

摘要：

To explore underwater terrain-matching navigation technology, this study systematically summarizes the current research progress of this technology according to the latest research results. The global seabed terrain model that integrates measured water depth and inversion water depth has been established, and the terrain matching algorithm system applicable to different situations has been formed. Besides, the terrain feature set and adaptation relationship have been established, the strategy satisfying intermittent and continuous terrain matching and the robust model with integrated inertial navigation information have been constructed, and the matching navigation system has been developed and successfully applied, comprehensively promoting the progress of long-term and high-precision underwater navigation technology. Moreover, the existing problems in this technology are analyzed. The future development directions of this technology include the construction of the high-precision and high-resolution global bathymetric model, the processing of bathymetric data, the robust matching navigation algorithm, and the research and development of a practical system. © 2023 Editorial Board of Journal of Harbin Engineering. All rights reserved.

引用

页码：1927 / 1936

页数：9

共 45 条

[31]

SAEEDI S, TRENTINI M, SETO M, Et al., Multiple-robot simultaneous localization and mapping: a review, Journal of field robotics, 33, 1, pp. 3-46, (2016)

[32]

LIU Zhongze, CHEN Huiyan, CUI Xing, Et al., Real-time LiDAR SLAM in off-road environment for UGV, Acta armamentarii, 40, 12, pp. 2399-2406, (2019)

[33]

CADENA C, CARLONE L, CARRILLO H, Et al., Past, present, and future of simultaneous localization and mapping: toward the robust-perception age, IEEE transactions on robotics, 32, 6, pp. 1309-1332, (2016)

[34]

THRUN S, MONTEMERLO M., The graph SLAM algorithm with applications to large-scale mapping of urban structures [ J ], The international journal of robotics research, 25, 5, pp. 403-429, (2006)

[35]

DE LA PUENTE P, RODRIGUEZ-LOSADA D., Feature based graph-SLAM in structured environments, Autonomous robots, 37, 3, pp. 243-260, (2014)

[36]

WANG Rupeng, LI Ye, MA Teng, Et al., A new model and method of terrain-aided positioning confidence interval estimation, Journal of marine science and technology, 27, 1, pp. 27-39, (2022)

[37]

WEI Yanhui, LIU Dongdong, NIU Jiale, Analysis and simulation of seafloor terrain seaworthiness based on multiple parameters, Harbin Engineering University Automation academic Conference, (2020)

[38]

(2018)

[39]

(2015)

[40]

ZHANG Lihua, LIU Xianpeng, JIA Shuaidong, Et al., A line-surface integrated algorithm for underwater terrain matching, Journal of geodesy and geoinformation science, 2, 4, pp. 10-20, (2019)

← 1 2 3 4 5 →