Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images
Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using ima...
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| Veröffentlicht in: | Journal of marine science and application 2015-12, Vol.14 (4), p.425-433 |
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| container_title | Journal of marine science and application |
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| creator | Song, Ziqi Bian, Hongyu Zielinski, Adam |
| description | Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge comer pixels are then defined and used to construct an edge comer histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters. |
| doi_str_mv | 10.1007/s11804-015-1334-6 |
| format | Article |
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It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge comer pixels are then defined and used to construct an edge comer histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. 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Marine. Sci. Appl</addtitle><addtitle>Journal of Marine Science and Application</addtitle><description>Underwater terrain-aided navigation is used to complement the traditional inertial navigation employed by autonomous underwater vehicles during lengthy missions. It can provide fixed estimations by matching real-time depth data with a digital terrain map, This study presents the concept of using image processing techniques in the underwater terrain matching process. A traditional gray-scale histogram of an image is enriched by incorporation with spatial information in pixels. Edge comer pixels are then defined and used to construct an edge comer histogram, which employs as a template to scan the digital terrain map and estimate the fixes of the vehicle by searching the correlation peak. Simulations are performed to investigate the robustness of the proposed method, particularly in relation to its sensitivity to background noise, the scale of real-time images, and the travel direction of the vehicle. At an image resolution of 1 m2/pixel, the accuracy of localization is more than 10 meters.</description><subject>Electrical Machines and Networks</subject><subject>Engineering</subject><subject>Geotechnical Engineering & Applied Earth Sciences</subject><subject>Machinery and Machine Elements</subject><subject>Offshore Engineering</subject><subject>Power Electronics</subject><subject>图像处理技术</subject><subject>图像导航</subject><subject>地形辅助导航</subject><subject>声呐</subject><subject>多波束测深</subject><subject>数字地形图</subject><subject>灰度直方图</subject><subject>自主水下航行器</subject><issn>1671-9433</issn><issn>1993-5048</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNp9kMtOwzAQRS0EEqXwAewi1hj8imMvS8WjUqELytpyYjtN1Tpgp7T9e1ylgh2zmdHonrmaC8A1RncYoeI-YiwQgwjnEFPKID8BAywlhTli4jTNvMBQMkrPwUWMS4R4wSkdgNmHNzZsdWdDNrch6MbDUWOsyd70d1Prrml99qBjWqThdbPqmtLqdVp1i_3adqGpsvfW65BN1rq28RKcOb2K9urYh2D-9Dgfv8Dp7HkyHk1hxQjpICmdw0wyjZwTzpjSVAQRI3hOKmooZoXEWGqUGysKyTUywmkmLJKFE5TRIbjtz261d9rXatlugk-GamHLujK7XaksSWkghvBBjnt5FdoYg3XqMzRrHfYKI3XIT_X5qUSoQ36KJ4b0TExaX9vw5_EfdHM0WrS-_krcrxNPldP0Gv0BmBV-Qw</recordid><startdate>20151201</startdate><enddate>20151201</enddate><creator>Song, Ziqi</creator><creator>Bian, Hongyu</creator><creator>Zielinski, Adam</creator><general>Harbin Engineering University</general><general>Acoustic Science and Technology Laboratory, Harbin Engineering University, Harbin 150001, China%Department of Electrical and Computer Engineering, University of Victoria, Victoria V8W 2Y2, Canada</general><scope>2RA</scope><scope>92L</scope><scope>CQIGP</scope><scope>W92</scope><scope>~WA</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>2B.</scope><scope>4A8</scope><scope>92I</scope><scope>93N</scope><scope>PSX</scope><scope>TCJ</scope></search><sort><creationdate>20151201</creationdate><title>Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images</title><author>Song, Ziqi ; Bian, Hongyu ; Zielinski, Adam</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c422t-2bff1494a0ff8fddbdc202d8652c3d31479119a05de8796a0d8fa48e097f8343</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Electrical Machines and Networks</topic><topic>Engineering</topic><topic>Geotechnical Engineering & Applied Earth Sciences</topic><topic>Machinery and Machine Elements</topic><topic>Offshore Engineering</topic><topic>Power Electronics</topic><topic>图像处理技术</topic><topic>图像导航</topic><topic>地形辅助导航</topic><topic>声呐</topic><topic>多波束测深</topic><topic>数字地形图</topic><topic>灰度直方图</topic><topic>自主水下航行器</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Song, Ziqi</creatorcontrib><creatorcontrib>Bian, Hongyu</creatorcontrib><creatorcontrib>Zielinski, Adam</creatorcontrib><collection>中文科技期刊数据库</collection><collection>中文科技期刊数据库-CALIS站点</collection><collection>中文科技期刊数据库-7.0平台</collection><collection>中文科技期刊数据库-工程技术</collection><collection>中文科技期刊数据库- 镜像站点</collection><collection>CrossRef</collection><collection>Wanfang Data Journals - Hong Kong</collection><collection>WANFANG Data Centre</collection><collection>Wanfang Data Journals</collection><collection>万方数据期刊 - 香港版</collection><collection>China Online Journals (COJ)</collection><collection>China Online Journals (COJ)</collection><jtitle>Journal of marine science and application</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Song, Ziqi</au><au>Bian, Hongyu</au><au>Zielinski, Adam</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images</atitle><jtitle>Journal of marine science and application</jtitle><stitle>J. 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| identifier | ISSN: 1671-9433 |
| ispartof | Journal of marine science and application, 2015-12, Vol.14 (4), p.425-433 |
| issn | 1671-9433 1993-5048 |
| language | eng |
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| source | Alma/SFX Local Collection; SpringerLink Journals - AutoHoldings |
| subjects | Electrical Machines and Networks Engineering Geotechnical Engineering & Applied Earth Sciences Machinery and Machine Elements Offshore Engineering Power Electronics 图像处理技术 图像导航 地形辅助导航 声呐 多波束测深 数字地形图 灰度直方图 自主水下航行器 |
| title | Underwater Terrain-Aided Navigation Based on Multibeam Bathymetric Sonar Images |
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