Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting
Joint Authors
Peng, Dongdong
Zhou, Tian
Xu, Chao
Gao, Jiaqi
Wang, Tianhao
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-30
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
Terrain matching positioning is a promising method to overcome the problem that the inertial navigation error of the underwater vehicle accumulates over time.
In the conventional terrain matching method, all measurement points are commonly used for matching and positioning.
However, this method fails to be taken into a balanced consideration on both the computation complexity and the positioning accuracy.
To reduce the computation and ensure the accuracy at the same time, an improved terrain matching method based on the gradient fitting is proposed in this paper.
In the method, the gradient distributions of multiple terrain regions are firstly analyzed.
Then, normal distribution is used to fit them, and according to the distribution, points with larger gradient values are selected as matching points.
Finally, minimum absolute difference matching is chosen to match for positioning.
Simulation results using multibeam sonar show that the improved terrain matching localization method not only reduces the computational complexity but also improves the accuracy of positioning.
American Psychological Association (APA)
Gao, Jiaqi& Peng, Dongdong& Zhou, Tian& Wang, Tianhao& Xu, Chao. 2018. Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting. Journal of Sensors،Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1201145
Modern Language Association (MLA)
Gao, Jiaqi…[et al.]. Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting. Journal of Sensors No. 2018 (2018), pp.1-14.
https://search.emarefa.net/detail/BIM-1201145
American Medical Association (AMA)
Gao, Jiaqi& Peng, Dongdong& Zhou, Tian& Wang, Tianhao& Xu, Chao. Terrain Matching Localization for Underwater Vehicle Based on Gradient Fitting. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1201145
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1201145