摘要
应用海底地图匹配技术提高水下载体(AUV)定位精度。通过双三次B-样条曲面插值重建参考地图(RDM),选取RDM中部分地图附加正态白噪声模拟当地水深地图(LDM)。将两块地图同时转化为8位256级灰度图像,应用图像相关法进行匹配。仿真显示,该方法具有较高的匹配精度和一定的抗差特性,具有适应大面积海底地形,包括平坦区域和复杂区域的特点。
Seabed terrain matching is applied to increase the localization accuracy for autonomous underwater vehicles （AUV）. By bicubic B-spline surface interpolation, reference depth map （RDM） is reconstructed to represent actual terrain. A plot is taken from RDM plus white noise to mimic local depth map （LDM）. Then two maps are transformed to 8-bit,256-grey images. In this stage, the two images are matched with correlation, thus image and terrain are connected tightly. Simulation results show that the matching is greatly accurate with certain mbusticity, suitable to large seabed terrain areas, including flat and complex regions.
出处
《北京大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2007年第6期733-737,共5页
Acta Scientiarum Naturalium Universitatis Pekinensis
基金
国家重点基础研究发展计划(513060301)资助项目
