Title :
An autonomous navigation algorithm for underwater vehicles based on inertial measurement units and sonar
Author :
Huang, Luyue ; He, Bo ; Zhang, Tao
Author_Institution :
Sch. of Inf. Sci. & Eng., Ocean Univ. of China, Qingdao, China
Abstract :
The underwater vehicles technology has been developed rapidly in recent years. In the past years, the method of Simultaneous Localization and Mapping (SLAM) has prevailed and provided a feasible way of autonomous navigation. This paper introduces an algorithm based on Inertial Measurement Units (IMU) and sonar for autonomous navigation of underwater vehicles, which is called Inertial-SLAM algorithm. The algorithm uses a hybrid Rao-Blackwellised SLAM algorithm to estimate the velocity, position, attitude of the underwater vehicle, the bias errors of the Inertial Measurement Units as well as the features map around the underwater vehicle. Inertial-SLAM algorithm is a combination of Inertial Navigation System (INS) and particle filter-based SLAM algorithm. Both the time complexity and the estimation error of this algorithm are small. The simulation results of the Inertial-SLAM algorithm are given in the paper.
Keywords :
SLAM (robots); inertial navigation; mobile robots; particle filtering (numerical methods); remotely operated vehicles; sonar; underwater vehicles; autonomous navigation; autonomous navigation algorithm; filter-based SLAM algorithm; hybrid Rao-Blackwellised SLAM algorithm; inertial measurement units; inertial navigation system; inertial-SLAM algorithm; simultaneous localization and mapping; sonar; underwater vehicles; Global Positioning System; Inertial navigation; Marine technology; Measurement units; Partitioning algorithms; Robotics and automation; Simultaneous localization and mapping; Sonar measurements; Sonar navigation; Underwater vehicles; AUV; Inertial Measurement Unit (IMU) sonar; SLAM;
Conference_Titel :
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5192-0
Electronic_ISBN :
1948-3414
DOI :
10.1109/CAR.2010.5456837