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 Tiedong Zhang,Wenjing Zeng and Lei Wan.Underwater Simultaneous Localization and Mapping Based on Forward-looking Sonar[J].Journal of Marine Science and Application,2011,(3):371-376.[doi:10.1007/s11804-011-1082-1]
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Underwater Simultaneous Localization and Mapping Based on Forward-looking Sonar


Underwater Simultaneous Localization and Mapping Based on Forward-looking Sonar
Tiedong Zhang Wenjing Zeng and Lei Wan
Tiedong Zhang Wenjing Zeng and Lei Wan
National Key Laboratory of Technology of Autonomous Underwater Vehicles, Harbin Engineering University, Harbin 150001, China
simultaneous localization and mapping (SLAM) looking forward sonar extended Kalman filter (EKF)
A method of underwater simultaneous localization and mapping (SLAM) based on forward-looking sonar was proposed in this paper. Positions of objects were obtained by the forward-looking sonar, and an improved association method based on an ant colony algorithm was introduced to estimate the positions. In order to improve the precision of the positions, the extended Kalman filter (EKF) was adopted. The presented algorithm was tested in a tank, and the maximum estimation error of SLAM gained was 0.25 m. The tests verify that this method can maintain better association efficiency and reduce navigation error.


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Supported by the National Natural Science Foundation of China (51009040), National Defence Key Laboratory of Autonomous Underwater Vehicle Technology (2008002), and Scientific Service Special Funds of University in China (E091002)
Last Update: 2011-09-15