文献类型：期刊文献

英文题名：An Underwater Positioning System for UUVs Based on LiDAR Camera and Inertial Measurement Unit

作者：Yang, Hongbo[1];Xu, Zhizun[1];Jia, Baozhu[1]

机构：[1]Guangdong Ocean Univ, Maritime Coll, Zhanjiang 524000, Peoples R China

年份：2022

卷号：22

期号：14

外文期刊名：SENSORS

收录：SCI-EXPANDED(收录号：WOS:000833163300001)、、EI(收录号：20223512630690)、Scopus(收录号：2-s2.0-85135106918)、WOS

基金：This research was funded by the National Natural Science Foundation of China, grant number 5207110634.

语种：英文

外文关键词：underwater positioning; visual-inertial odometry; information fusion; ultra-wideband positioning system

外文摘要：Underwater positioning presents a challenging issue, because of the rapid attenuation of electronic magnetic waves, the disturbances and uncertainties in the environment. Conventional methods usually employed acoustic devices to localize Unmanned Underwater Vehicles (UUVs), which suffer from a slow refresh rate, low resolution, and are susceptible to the environmental noise. In addition, the complex terrain can also degrade the accuracy of the acoustic navigation systems. The applications of underwater positioning methods based on visual sensors are prevented by difficulties of acquiring the depth maps due to the sparse features, the changing illumination condition, and the scattering phenomenon. In the paper, a novel visual-based underwater positioning system is proposed based on a Light Detection and Ranging (LiDAR) camera and an inertial measurement unit. The LiDAR camera, benefiting from the laser scanning techniques, could simultaneously generate the associated depth maps. The inertial sensor would offer information about its altitudes. Through the fusion of the data from multiple sensors, the positions of the UUVs can be predicted. After that, the Bundle Adjustment (BA) method is used to recalculate the rotation matrix and the translation vector to improve the accuracy. The experiments are carried out in a tank to illustrate the effects and accuracy of the investigated method, in which the ultra-wideband (UWB) positioning system is used to provide reference trajectories. It is concluded that the developed positioning system is able to estimate the trajectory of UUVs accurately, whilst being stable and robust.