自主遥控水下机器人在马里亚纳海沟挑战者深渊基于地形匹配定位

王健; 唐元贵; 陈传绪; 李吉旭; 陈聪; 张艾群; 李一平; 李硕

doi:10.1631/FITEE.1900556

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自主遥控水下机器人在马里亚纳海沟挑战者深渊基于地形匹配定位

智能无人系统专辑 | Updated：2022-05-19

- 自主遥控水下机器人在马里亚纳海沟挑战者深渊基于地形匹配定位
- Terrain matching localization for hybrid underwater vehicle in the Challenger Deep of the Mariana Trench
- 信息与电子工程前沿（英文） 2020年21卷第5期页码：749-759
- Affiliations：
  
  State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
  Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
  Institute of Deep-sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, China
- Author bio：
  
  [ "Jian WANG, E-mail: wangjian3@sia.cn" ]
  Yuan-gui TANG, E-mail: tyg@sia.cn
  Chuan-xu CHEN, E-mail: chencx@idsse.ac.cn
- Funds：
  
  Project supported by the National Key R&D Program of China (Nos. 2018YFC0308804 and 2016YFC0300800) and the Strategic Priority Research Program of Chinese Academy of Sciences (No. XDB06050200)
- DOI：10.1631/FITEE.1900556
  中图分类号： TP242.6;TP273
- 收稿：2019-10-11，
  
  修回：2020-;4-;1，
  
  纸质出版：2020-05
- Accepted：
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王健, 唐元贵, 陈传绪, 等. 自主遥控水下机器人在马里亚纳海沟挑战者深渊基于地形匹配定位[J]. 信息与电子工程前沿（英文）, 2020,21(5):749-759.

Jian WANG, Yuan-gui TANG, Chuan-xu CHEN, 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.
王健, 唐元贵, 陈传绪, 等. 自主遥控水下机器人在马里亚纳海沟挑战者深渊基于地形匹配定位[J]. 信息与电子工程前沿（英文）, 2020,21(5):749-759. DOI： 10.1631/FITEE.1900556.

Jian WANG, Yuan-gui TANG, Chuan-xu CHEN, 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. DOI： 10.1631/FITEE.1900556.

摘要

截至目前，地球海洋最大深度记录约为11 000米，位于西太平洋马里亚纳海沟。海斗号自主遥控水下机器人主要用于地球海洋最深处科学考察。对全海深潜水器而言，声学定位技术最有效且被广为利用。11 000米级声学定位系统相对庞大且复杂，同时需要装备兼容声学设备的专用科考船。作为一个紧凑的测试平台，海斗号无法装备大体积大重量的LBL/USBL。潜水器在下潜至11 000米海试过程中，由于受流体动力学及洋流不确定性影响，其水平漂移难以避免。海斗号记录的最大深度为10 905米，而确定该最深点位置具有一定挑战。基于多波束声呐形成的测深图，可采用地形轮廓匹配（TERCOM）方法进行地形匹配定位。TERCOM方法可稳定推测准确位置，因其对初始位置误差不敏感。最终匹配结果揭示了在参考地形图中的最佳估计位置。

Abstract

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.

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