To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwat...To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation（LSE） is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.展开更多
随着科技的快速发展,无人机(Unmanned Aerial Vehicle,UAV)高精度地形测绘技术已成为现代测绘领域的重要组成部分。该技术融合无人机平台、高精度传感器、图像处理、地理信息系统(Geographic Information Systems,GIS)等多种技术手段,...随着科技的快速发展,无人机(Unmanned Aerial Vehicle,UAV)高精度地形测绘技术已成为现代测绘领域的重要组成部分。该技术融合无人机平台、高精度传感器、图像处理、地理信息系统(Geographic Information Systems,GIS)等多种技术手段,实现对复杂地形地貌的高效精准测绘,具有重要的应用价值。基于此,文章探讨无人机高精度地形测绘的特点、数据处理技术的应用措施,并通过具体案例分析其在实际应用中的效果,为推动相关技术的发展提供参考。展开更多
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51179035 and 51279221)the Natural Science Foundation of Heilongjiang Province(Grant No.E201121)
文摘To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation（LSE） is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.
文摘随着科技的快速发展,无人机(Unmanned Aerial Vehicle,UAV)高精度地形测绘技术已成为现代测绘领域的重要组成部分。该技术融合无人机平台、高精度传感器、图像处理、地理信息系统(Geographic Information Systems,GIS)等多种技术手段,实现对复杂地形地貌的高效精准测绘,具有重要的应用价值。基于此,文章探讨无人机高精度地形测绘的特点、数据处理技术的应用措施,并通过具体案例分析其在实际应用中的效果,为推动相关技术的发展提供参考。
