水道港口2015，Vol.36Issue(4)：362-365,4.
基于EKF-SLAM算法的水下膨胀弯测量技术
Subsea acoustic metrology of jumper&spool based on EKF-SLAM algorithm
摘要
Abstract
Subsea metrology surveys are conducted to determine accurately the relative horizontal and vertical distance between subsea assets, as well as their relative heading and attitude. This information is then used by pipe-line engineers to design connection pieces to join the assets together. Based on acoustic measurement technology and the fusion of acoustic positioning, inertial navigation, Doppler velocity log, pressure gauge, sound velocity meter data under water, the EKF-SLAM algorithm was described in this paper. It can realize the cm level accuracy, and operating mode is simple, no depth and visibility constraints. It can effectively improve the work efficiency to save the time and cost.关键词
EKF-SLAM算法/水下膨胀弯/水下声学惯导计量/尺寸测量Key words
EKF-SLAM algorithm/jumper&spool/subsea acoustic inertial metrology/dimensional measure-ment分类
天文与地球科学引用本文复制引用
隋海琛,王崇明,雷鹏..基于EKF-SLAM算法的水下膨胀弯测量技术[J].水道港口,2015,36(4):362-365,4.基金项目
中央级公益性科研院所基本科研业务费专项资金项目"水下组合导航定位技术研究"资助(TKS130209) （TKS130209）
