基于极大似然估计的AUV水下地形匹配定位方法

doi:10.3724/SP.J.1218.2012.00559

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引用本文:
陈小龙, 庞永杰, 李晔, 陈鹏云 . 基于极大似然估计的AUV水下地形匹配定位方法[J]. 机器人, 2012, 34(5): 559-565.DOI: 10.3724/SP.J.1218.2012.00559. CHEN Xiaolong, PANG Yongjie, LI Ye, CHEN Pengyun. Underwater Terrain Matching Positioning Method Based on MLE for AUV. ROBOT, 2012, 34(5): 559-565. DOI: 10.3724/SP.J.1218.2012.00559.

摘要

针对自主式水下机器人（AUV）长时间水下作业时精确定位的需求，以多波束测深仪作为水下地形测量手段，利用极大似然法则对地形特征进行相关性分析，提出了一种基于极大似然估计的水下地形匹配定位方法．针对平坦地形区域似然函数出现的伪波峰的影响，引入费希尔判据准则对其进行约束，有效地剔除了伪峰值点，增强了对地形平坦区域地形特征的识别率．基于某电子海图数据和多波束测深仪海上试验数据的仿真结果，验证了该方法的有效性和实用性．

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	陈小龙
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关键词 ：多波束测深仪, 极大似然估计, 地形匹配, 费希尔判据

Abstract：

Aiming at the precise positioning of autonomous underwater vehicle (AUV) during submerged operation for long periods of time, an underwater terrain matching positioning method based on maximal likelihood estimation (MLE) is proposed. In this method, multibeam echo sounder (MBES) is taken as the underwater terrain measuring means, and maximum likelihood algorithm is used for correlation analysis of terrain character. For the influence from false peaks of likelihood function at flat bottom area, the Fisher criterion is introduced to restrict it. The false peaks are eliminated effectively and the discrimination of flat bottom area is enhanced. The simulation results based on one electronic chart data and sea test data from a multibeam echo sounder show that the proposed method is effective and feasible.

Key words： multibeam echo sounder maximal likelihood estimation (MLE) terrain matching Fisher criterion

收稿日期: 2012-04-16 录用日期: 2012-07-20

TP24

基金资助:

国家自然科学基金资助项目（50909025；51179035）

通讯作者: 陈小龙 E-mail: xiaolong1133@163.com

作者简介: 陈小龙（1982—），男，博士生．研究领域：水下机器人运动控制与导航．
庞永杰（1955—），男，教授，博士生导师．研究领域：水下机器人系统设计、集成与仿真．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00559 或 https://robot.sia.cn/CN/Y2012/V34/I5/559

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