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- W2376742422 abstract "Traditional simultaneous localization and mapping(SLAM)transducers have the shortcomings of a large amount of data,slow processing speed,and poor real time capability.Furthermore,the method based on extended Kalman filter(EKF)-SLAM has the deficiency of relatively low estimation precision for the location of unmanned underwater vehicles(UUV's).In consideration of these problems,a suboptimal fading extended Kalman filter was introduced into a UUV navigation system,and a method of suboptimal fading extended Kalman filter-SLAM(SFEKF-SLAM) for a UUV's structural environment based on multi-ranging sonar(MRS)was presented.First,a feature extraction model of underwater multi-ranging sonar based on the Hough transform was established;then a UUV navigation system based on SFEKF-SLAM was designed.Applying the system,the UUV's state can be estimated and its structural environment can be updated by the data of multi-ranging sonar.The sea-trial results show that the model of underwater multi-ranging sonar based on the Hough transform can extract environmental features efficiently,and a UUV navigation system based on SFEKF-SLAM has higher precision than one based on EKF-SLAM and can build the map of port embankment more precisely.It was also proven that the SFEKF-SLAM method for a UUV's structural environment based on multi-ranging sonar has potential applications in underwater structural environments such as ports." @default.
- W2376742422 created "2016-06-24" @default.
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- W2376742422 date "2012-01-01" @default.
- W2376742422 modified "2023-09-24" @default.
- W2376742422 title "A method study on SFEKF-SLAM for a UUV's structural environment" @default.
- W2376742422 hasPublicationYear "2012" @default.
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