1P1-A14 地形照合によるリアルタイム測位手法 : 自律型水中ロボットによる深海底の観測

概要

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Real-time accurate localization is essential for in many underwater vehicle applications. In particular, close-range seafloor observation requires precise positioning in relation to bottom structures or to coordinates on a map. This paper proposes a real-time terrain based localization method that realizes robust positioning that does not require any artificial landmarks. The method stochastically determines vehicle's position relative to the map using the Particle Filter method, based on an inertial navigation system (INS) and a profiling sonar mounted on the vehicle. The reference bathymetric map is constructed a prior, either by the vehicle itself, or by other platforms. The proposed method is implemented on the hovering type AUV TUNA-SAND and sea trials were carried out. We succeeded in the real-time localization and verified the performance of the proposed method.
2009-05-25