当前位置: X-MOL 学术Front. Inform. Technol. Electron. Eng. › 论文详情
Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench
Frontiers of Information Technology & Electronic Engineering ( IF 1.033 ) Pub Date : 2020-05-21 , DOI: 10.1631/fitee.1900556
Jian Wang, Yuan-gui Tang, Chuan-xu Chen, Ji-xu Li, Cong Chen, Ai-qun Zhang, Yi-ping Li, Shuo Li

The maximum ocean depth so far reported is about 11 000 m, and is located in the Mariana Trench in the Western Pacific Ocean. The hybrid unmanned underwater vehicle, Haidou, is developed to perform scientific survey at the deepest parts of the Earth oceans. For vehicles working at the full-ocean depth, acoustic positioning is the most effective and popular method. The 11 000 m class acoustic positioning system is relatively massive and complex, and it requires specialized research vessels equipped with compatible acoustic instruments. As a compact testbed platform, it is impractical for Haidou to carry an LBL/USBL beacon with its large volume and weight. During the descent to about 11 000 m, horizontal drift could not be eliminated because of the hydrodynamics and uncertain ocean currents in the sea trials. The maximum depth recorded by Haidou is 10 905 m, and determining the precise location of the deepest point is challenging. With the bathymetric map produced by a multibeam sonar, the terrain contour matching (TERCOM) method is adopted for terrain matching localization. TERCOM is stable in providing an accurate position because of its insensitivity to the initial position errors. The final matching results show the best estimate of location in the reference terrain map.
更新日期:2020-05-21

 

全部期刊列表>>
Springer化学材料学
骄傲月
如何通过Nature平台传播科研成果
跟Nature、Science文章学绘图
隐藏1h前已浏览文章
中洪博元
课题组网站
新版X-MOL期刊搜索和高级搜索功能介绍
ACS材料视界
x-mol收录
南开大学
朱守非
廖良生
郭东升
汪铭
伊利诺伊大学香槟分校
徐明华
中山大学化学工程与技术学院
试剂库存
天合科研
down
wechat
bug