The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋信息技术装备中心

	The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter
	Xu HL(徐红丽); Chen G(陈巩); Jia QY(贾庆勇); Cao S(曹帅); Jiang M(蒋敏)
	2016
会议名称	OCEANS 2016 - Shanghai
会议日期	April 10-13, 2016
会议地点	Shanghai, China
关键词	AUV Slope estimate Bottom-following EKF
页码	1-4
通讯作者	陈巩
中文摘要	This paper studies the problem of undersea bottom-following through using the Autonomous Underwater Vehicle(AUV) equipped with Altimeter and Depth gauge. We can improve the ability of AUV to perceive the information of the seabed by using the Extended Kalman Filter(EKF) to complete the information fusion of data comes from Altimeter and Depth gauge. The seabed terrain slope is estimated by the least square method and then the trend of the seabed terrain can be predicted, which improve the ability of the AUV to track the seabed terrain. In the end, the seabed terrain tracking algorithm was verified by Matlab simulation, and the experimental results showed that the proposed method was effective.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	OCEANS 2016 - Shanghai
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	0197-7385
ISBN号	978-1-4673-9724-7
WOS记录号	WOS:000386521800068
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18761]
专题	沈阳自动化研究所_海洋信息技术装备中心
推荐引用方式 GB/T 7714	Xu HL,Chen G,Jia QY,et al. The research on sea-bottom terrain tracking by AUV based on least squares method and Extended Kalman Filter[C]. 见:OCEANS 2016 - Shanghai. Shanghai, China. April 10-13, 2016.