基于极大似然估计的AUV水下地形匹配定位方法.pdfVIP

34 5 ROBOT Vol.34, No.5 2012 9 Sep., 2012 DOI 10.3724/SP.J.1218.2012.00559 AUV 150001 AUV TP24 A 1002-0446(2012)-05-0559-07 Underwater Terrain Matching Positioning Method Based on MLE for AUV CHEN Xiaolong PANG Yongjie LI Ye CHEN Pengyun (State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China) 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. Keywords: multibeam echo sounder; maximal likelihood estimation (MLE); terrain matching; Fisher criterion 1 Introduction AUV AUV AUV GPS