在不规则的3D表面中放置传感器,以提高定位精度,使用多目标记忆算法
Paula A Graça1, José C Alves2, Bruno M Ferreira1
1INESC TEC-Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal.
Sensors (Basel, Switzerland)
|July 29, 2023
概括
在不规则的3D表面上优化声学传感器的放置,可以提高自动水下车辆 (AUV) 的水下定位精度. 这种方法提高了使用反向超短基线 (USBL) 系统的导航精度.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 海洋工程 海洋工程
- 导航系统 导航系统
背景情况:
- 准确的水下定位对于自动水下车辆 (AUV) 来说至关重要.
- 现有的方法往往忽略了在复杂,受限制的3D表面上的最佳传感器放置.
- 商业声学系统通常使用紧的阵列,限制传感器放置优化.
研究的目的:
- 优化声学传感器放置在不规则的3D表面上,以提高定位精度.
- 为了提高AUV上倒置超短基线 (USBL) 系统的导航精度.
- 为了应对在受限制的3D环境中放置传感器的挑战.
主要方法:
- 开发了一种用于优化传感器放置的多目标模拟算法.
- 综合克拉默-拉奥下界 (CRLB) 用于几何配置评估.
- 在优化过程中将接收信号的发生角度纳入优化过程中.
主要成果:
- 通过在不规则的表面上优化传感器放置,证明了更好的定位精度.
- 在AUV模拟定位和对接场景中验证了算法.
- 展示了对反向USBL系统提出的方法的有效性.
结论:
- 在受限制的3D表面上最佳的声学传感器放置显著提高了水下定位.
- 开发的多目标记忆算法为传感器放置优化提供了有效的解决方案.
- 这项研究为改善AUV导航和定位精度提供了一种新的方法.
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