An autonomous underwater vehicle positioning matching method based on iterative closest contour point algorithm and affine transformation
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Abstract:
An improved autonomous underwater vehicle federal integrated navigation method based on two-stage position matching technology is proposed in this study to solve the problem of positioning divergence caused by the defects of error accumulation in an inertial navigation system. The improved two-stage position matching method includes the acquisition and preprocessing of the strap-down inertial navigation system and indicates track sequences and elevation measurement sequences. The first-stage position matching is based on iterative closest contour point, while the second-stage position matching is based on an affine algorithm. Simulation results indicate that the proposed algorithm solves the problem of the limitation of the rigid transformation of traditional iterative closest contour point and effectively resolves the matching failure caused by the large initial position error of long-time navigation.Keywords:
Iterative closest point
Position (finance)
Dilution of precision
Unmanned underwater vehicle
Navigation System
An improved autonomous underwater vehicle federal integrated navigation method based on two-stage position matching technology is proposed in this study to solve the problem of positioning divergence caused by the defects of error accumulation in an inertial navigation system. The improved two-stage position matching method includes the acquisition and preprocessing of the strap-down inertial navigation system and indicates track sequences and elevation measurement sequences. The first-stage position matching is based on iterative closest contour point, while the second-stage position matching is based on an affine algorithm. Simulation results indicate that the proposed algorithm solves the problem of the limitation of the rigid transformation of traditional iterative closest contour point and effectively resolves the matching failure caused by the large initial position error of long-time navigation.
Iterative closest point
Position (finance)
Dilution of precision
Unmanned underwater vehicle
Navigation System
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ICP (Iterative Closest Point) algorithm is the most classical algorithm in surface matching. The traditional ICP algorithm is low efficiency. Rusinkiewicz proposed a high speed ICP which greatly improved efficiency. However, it does not work correctly when rotary dislocation is large between two models.This paper presents a modified surface matching ICP-based algorithm which is divided into two steps. Firstly, rough registration is performed .Secondly, accurate matching with a high-speed ICP algorithm is carried out. Finally, the matching method achieves a good result.
Iterative closest point
Point set registration
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Point cloud matching is one of the key technologies of optical three-dimensional contour measurement. Most of the point cloud matching without landmark used the iterative closest point algorithm. In order to improve the performance of the iterative closest point algorithm, the two-step iterative closest point algorithm was proposed. The improved algorithm is divided into a rough matching step and accurate matching step. Rough matching used the principal component analysis algorithm, while the fine matching used the improved iterative closest point algorithm. Compared with the classic iterative closest point algorithm, the improved algorithm can match the partial coincident point cloud. At the same time, the experiment can validate the effectiveness of the proposed algorithm.
Iterative closest point
Point set registration
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Citations (39)
According to the long term underwater sail of UUV,an integrated navigation system is devised.Then the construction of the integrated navigation system and the filtering algorithm is derived.The theoretical analysis and experimental results indicate that using this integrated navigation system can improve the precision of navigation and the invisibility of UUV dramatically.
Unmanned underwater vehicle
Navigation System
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In order to ensure the collected images can be matched exactly when UUV operates autonomously underwater. An improved Harris-FAST algorithm is proposed in this paper. The algorithm takes full advantages of FAST algorithm and Harris algorithm, which makes the threshold value with self-adaptive and the detected corner in multi-scale and omnibearingly. It can overcome the corner information loss and position offset caused by corner detection in single-scale and optimize the non-maxima suppression. After completing the corner detection, using feature descriptor to generate eigenvector and complete the corner matching and elimination of mismatching based on Euclidean distance method. UUV simulation test system of binocular vision is built in this paper, and underwater images are captured. Through the contrast test, it can verify the validity that the proposed algorithm is used in underwater images.
Corner detection
Unmanned underwater vehicle
Feature (linguistics)
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The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.
Landmark
Dilution of precision
Navigation System
Position (finance)
Mobile Robot Navigation
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【In this paper, the equations calculating GDOP are induced in Hyperboic, and Spherical Navigation System, respectively, The GDOP diagram shows that the DGOP in the inner region of Beacons is similar each other, but the GDOP of Hyperboic Navigation is much larger than that of Spherical Navigation due to GDOP in the outer region of Beacons. The authors propose the algorithm estimating the pulse starting time using the Hyperboic Navigation System, and prove that if Navigation use the Spherical Navigation by adopting the proposed Algorithm -in this case, Pseudo Sperical Navigation System - in the outer region where GDOP is becoming large, the position errors can be reduced.e reduced.】
Dilution of precision
Beacon
Navigation System
Position (finance)
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With the development of the Global Navigation Satellite System (GNSS), the integrated system including two or more individual constellations will be the main navigation mode in the future. For integrated system, the Geometric Dilution of Precision (GDOP) is widely used for the selection of satellites and the evaluation of positioning accuracy. The change of GDOP is related with the number of the satellites. In this paper, the impact of the number of satellites on the change of GDOP is theoretically derived. The result shows that, adding satellites from the existing tracked constellations into the integrated system, the GDOP always decreases when the number of satellites increases.
Dilution of precision
Mode (computer interface)
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The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.
Landmark
Dilution of precision
Navigation System
Position (finance)
Mobile Robot Navigation
Machine Vision
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Citations (7)
Research on Performance Enhancement of GPS Navigation System using BD Navigation System based on STK
In order to improve the position precision of our country's GPS application users,a method integrating the BD navigation system with GPS navigation system is proposed.According to the method,PDOP data is simulated with STK.The simulation results show that the performance of integrated system is improved as well as the position precision.
Dilution of precision
Navigation System
Position (finance)
GPS/INS
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