智能系统学报Issue(2)：156-161,6.DOI:10.3969/j.issn.1673-4785.201301020
UUV水下回收中的视觉和短基线定位融合
Data fusion method of vision and SBL position for UUV underwater docking
摘要
Abstract
The vision position and SBL position are applied to underwater docking of UUV , and thus, an adaptive data fusion method for vision and SBL was proposed for position precision improvements .Firstly, SBL, vision posi-tion system and their principles were introduced .Next, abnormal value eliminating and denoising methods were de -scribed and an adaptive online method based on change rate of data was proposed to eliminate the abnormal value . A soft threshold wavelet filtering method was also proposed for denoising .Taking into consideration the lack of prior knowledge for fusion by using Kalman filter , an adaptive online Kalman filter fusion method based on fuzzy logic was proposed.Covariance matrix of noise was adjusted online for fusion of the two types of position data .Finally, the results of underwater docking in pool tests show that most abnormal values and noise were eliminated remark -ably.The results also indicate the position precision was improved by data fusion of vision and SBL position , which prove the proposed method was effective .关键词
UUV/水下回收/视觉定位/短基线定位:数据融合Key words
unmanned underwater vehicle/underwater docking/vision position/SBL position/data fusion分类
信息技术与安全科学引用本文复制引用
黎南,湛鑫,陈涛,严浙平..UUV水下回收中的视觉和短基线定位融合[J].智能系统学报,2013,(2):156-161,6.基金项目
国家自然科学基金资助项目（51179038）；中央高校基本科研业务费专项资金资助项目（HEUCF041323）． （）
