摘要
为解决传统水下定位传感器在定位方面的不足,提出一种基于目标光源的单目视觉四自由度定位方法,推导了四自由度定位算法原理,提出了深度定位、水平定位和艏向定位方法。设计了作为目标的共线排列定位光源系统。静态和动态试验证明所提出的单目视觉定位方法原理正确,目标光源系统合理可行,可以在深度为4~0.5 m范围内进行稳定的四自由度定位。经过校正,与SBL和测深仪的相对精度达到10 cm以内。实验说明上述方法对AUV执行近距离使命任务具有实际意义。
To overcome the performance deficiency of conventional underwater positioning sensor in positioning, a 4DOF positioning approach using monocular vision based on target light-source was put forward. The principle of 4DOF positioning calculation was derived, and the methods of depth location, horizontal location and heading location were presented. The location light-source system with collinear permutation was designed to be used as target light. The static and dynamic tests verify that the principle of the proposed method is correct, and the target light-source positioning system based on monocularvision is reasonable and feasible, which can implement stable 4DOF-positioning within depth 4-0.5 m. The relative accuracy related to SBL and altimeter is within 10 cm after correction. Test results show that the proposed method have practical value for the AUV undertaking short-distance mission.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2015年第4期489-492,共4页
Journal of Chinese Inertial Technology
关键词
单目视觉
水下视觉
视觉定位
AUV
monocular vision
underwater vision
visual positioning
autonomous underwater vehicle
