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Underwater simultaneous localization and mapping based on forward-looking sonar

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Abstract

A method of underwater simultaneous localization and mapping (SLAM) based on forward-looking sonar was proposed in this paper. Positions of objects were obtained by the forward-looking sonar, and an improved association method based on an ant colony algorithm was introduced to estimate the positions. In order to improve the precision of the positions, the extended Kalman filter (EKF) was adopted. The presented algorithm was tested in a tank, and the maximum estimation error of SLAM gained was 0.25 m. The tests verify that this method can maintain better association efficiency and reduce navigation error.

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Authors and Affiliations

  1. National Key Laboratory of Technology of Autonomous Underwater Vehicles, Harbin Engineering University, Harbin, 150001, China

    Tiedong Zhang, Wenjing Zeng & Lei Wan

Authors
  1. Tiedong Zhang
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  2. Wenjing Zeng
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  3. Lei Wan
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Corresponding author

Correspondence to Tiedong Zhang.

Additional information

Foundation item: Supported by the National Natural Science Foundation of China (51009040), National Defence Key Laboratory of Autonomous Underwater Vehicle Technology (2008002), and Scientific Service Special Funds of University in China (E091002).

Tiedong Zhang was born in 1978. He has a PhD and is an instructor at Harbin Engineering University. His current research interests include AUV technique and underwater image processing.

Wenjing Zeng was born in 1985. She is a PhD candidate at Harbin Engineering University. Her current research interests include AUV technique and underwater image processing.

Lei Wan was born in 1965. He is a professor of Harbin Engineering University. His current research interests include AUV technique.

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Zhang, T., Zeng, W. & Wan, L. Underwater simultaneous localization and mapping based on forward-looking sonar. J. Marine. Sci. Appl. 10, 371–376 (2011). https://doi.org/10.1007/s11804-011-1082-1

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  • DOI: https://doi.org/10.1007/s11804-011-1082-1

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