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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.

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概括
此摘要是机器生成的。

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.

关键词:
3D传感器的放置位置克拉默 - 拉奥下界渔民信息矩阵发生角度的发生角度.仿真算法 仿真算法 仿真算法 仿真算法多目标优化多目标优化超短基线的超短基线水下声学定位的定位方法

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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.