基于多波束声呐的同时定位与地图构建

Simultaneous Localization and Map Construction Based on Multi-beam Sonar

摘要:

对自主水下航行器定位与建图进行了研究。分析了 SLAM 的算法原理，采用 BlueROV2 和声呐、 DVL、IMU 搭建了实验平台，并选择合适的算法框架完成了完整的算法设计。使用声呐为主要感知单元完成自主水下航行器的 SLAM 实验，并对声呐数据的杂波、野值、虚警等进行了滤波处理。最后，在水池、湖泊试验中对所研究的 SLAM 算法的定位与建图进行了验证，取得了良好的试验结果。

关键词:AUV;声呐;滤波;SLAM

Abstract:

This paper studies the positioning and mapping of autonomous underwater vehicles. The principle of SLAM algorithm is analyzed，the experimental platform is built with BlueROV2，sonar，DVL and IMU，and the appropriate algorithm framework is selected to achieve the complete algorithm design. Sonar，as the main sensing unit，is used to complete the SLAM experiment of autonomous underwater vehicles，and the clutter，outliers and false alarms of sonar data are filtered. In the pool and lake test，the positioning and mapping algorithm of the studied SLAM algorithm are verified，and good test results are obtained.

Key words:AUV;sonar;filtering;SLAM