We present herein a three-dimensional (3D) mapping method in one-way rectilinear scanning with an autonomous underwater vehicle (AUV) equipped with a forward looking sonar (FLS) and a profiling sonar (PS). Three-dimensional reconstruction using sonar with a finite beam width is an ill-posed problem, and additional constraints also need to be considered. Our approach involves an additional sonar and fuse acoustic measurements provided by the two sonar sensors. The FLS has a high resolution in the horizontal scan but has a uncertainty in the vertical scan. Meanwhile, the PS provides a reliable vertical profile, but its beam width is extremely narrow. An initial map is generated by the FLS and refined by combining the PS vertical scan data. To demonstrate the validity and effectiveness of the proposed method, we conducted tests in a water tank and also at sea. Finally, we presented the results of the proposed method gathered by an AUV in the tests.

我们在此提出了一种使用配备前视声纳 (FLS) 和剖面声纳 (PS) 的自主水下航行器 (AUV) 进行单向直线扫描的三维 (3D) 映射方法。使用有限波束宽度的声纳进行三维重建是一个不适定问题，还需要考虑额外的约束。我们的方法涉及额外的声纳和融合两个声纳传感器提供的声学测量。FLS 在水平扫描中具有高分辨率，但在垂直扫描中具有不确定性。同时，PS 提供可靠的垂直剖面，但其波束宽度极窄。初始地图由 FLS 生成，并通过组合 PS 垂直扫描数据进行细化。为了证明所提出方法的有效性和有效性，我们在水箱和海上进行了测试。最后，我们展示了在测试中由 AUV 收集的所提出方法的结果。