Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench
文献类型：期刊论文
| 作者 | Wang, Jian2,3; Tang, Yuan-gui2,3; Chen, Chuan-xu1 ; Li, Ji-xu2,3; Chen, Cong2,3; Zhang, Ai-qun1,2,3; Li, Yi-ping2,3; Li, Shuo2,3
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| 刊名 | FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING
 |
| 出版日期 | 2020-05-01 |
| 卷号 | 21期号:5页码:749-759 |
| 关键词 | Hybrid underwater vehicle Full-ocean depth Challenger Deep Mariana Trench Terrain contour matching TP242 6 TP273 |
| ISSN号 | 2095-9184 |
| DOI | 10.1631/FITEE.1900556 |
| 英文摘要 | The maximum ocean depth so far reported is about 11 000 m, and is located in the Mariana Trench in the Western Pacific Ocean. The hybrid unmanned underwater vehicle, Haidou, is developed to perform scientific survey at the deepest parts of the Earth oceans. For vehicles working at the full-ocean depth, acoustic positioning is the most effective and popular method. The 11 000 m class acoustic positioning system is relatively massive and complex, and it requires specialized research vessels equipped with compatible acoustic instruments. As a compact testbed platform, it is impractical for Haidou to carry an LBL/USBL beacon with its large volume and weight. During the descent to about 11 000 m, horizontal drift could not be eliminated because of the hydrodynamics and uncertain ocean currents in the sea trials. The maximum depth recorded by Haidou is 10 905 m, and determining the precise location of the deepest point is challenging. With the bathymetric map produced by a multibeam sonar, the terrain contour matching (TERCOM) method is adopted for terrain matching localization. TERCOM is stable in providing an accurate position because of its insensitivity to the initial position errors. The final matching results show the best estimate of location in the reference terrain map. |
| WOS关键词 | ALGORITHM |
| WOS研究方向 | Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000534837900008 |
| 出版者 | ZHEJIANG UNIV |
| 源URL | [http://ir.idsse.ac.cn/handle/183446/7654]  |
| 专题 | 深海科学研究部_深海地球物理与资源研究室 |
| 通讯作者 | Tang, Yuan-gui; Chen, Chuan-xu |
| 作者单位 | 1.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China 2.Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang 110016, Peoples R China 3.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Jian,Tang, Yuan-gui,Chen, Chuan-xu,et al. Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench[J]. FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING,2020,21(5):749-759. |
| APA | Wang, Jian.,Tang, Yuan-gui.,Chen, Chuan-xu.,Li, Ji-xu.,Chen, Cong.,...&Li, Shuo.(2020).Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench.FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING,21(5),749-759. |
| MLA | Wang, Jian,et al."Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench".FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING 21.5(2020):749-759. |
入库方式： OAI收割
来源：深海科学与工程研究所
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