|Table of Contents|

Citation:
　Ziqi Song,Hongyu Bian,Adam Zielinski.Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images[J].Journal of Marine Science and Application,2015,(4):425-433.[doi:10.1007/s11804-015-1334-6]
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Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images

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Title:
Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images
Author(s):
Ziqi Song1; 2; 3;  Hongyu Bian1; 2;  Adam Zielinski3
Affilations:
Author(s):
Ziqi Song1; 2; 3;  Hongyu Bian1; 2;  Adam Zielinski3
1. Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China ;
2. College of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, China;
3. Department of Electrical and Computer Engineering, University of Victoria, Victoria V8W 2Y2, Canada
Keywords:
underwater acoustics; terrain-aided navigation; sonar images; histogram; autonomous underwater vehicle; multibeam bathymetric sonar
分类号:
-
DOI:
10.1007/s11804-015-1334-6
Abstract:
Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map. This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge corner pixels are then defined and used to construct an edge corner histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.

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Memo

Memo:
收稿日期:2015-7-10;改回日期:2015-10-3。
基金项目:Supported by the National Natural Nature Science Foundation of China (Grant No. 41376102), Fundamental Research Funds for the Central Universities (Gant No. HEUCF150514) and Chinese Scholarship Council (Grant No. 201406680029).
通讯作者:Hongyu Bian, E-mail:bianhongyu@hrbeu.edu.cn
Last Update: 2015-11-07