CAJ | 학술논문

该文针对水下机器人在核电站水池中的位置估计问题，提出基于扫描声呐的概率迭代匹配定位算法进行机器人水下定位。首先分析了扫描声呐的信号特征，对声呐信号进行预处理的方法，通过阈值去噪、距离限定和减少采样来降低信号干扰和剔除多余数据，提高计算效率。然后针对声呐量测存在较大噪声的问题，提出基于概率迭代匹配的算法。利用马氏距离计算声呐扫描图与核电站水池环境地图之间的最近匹配点，同时通过置信度提高匹配的精度，以寻优迭代估计得到水下机器人的绝对位姿。与传统的最近点迭代算法的仿真比较表明该算法提高了水下机器人的估计精度。最后，通过水池实验验证了该算法的有效性。
해문침대수하궤기인재핵전참수지중적위치고계문제，제출기우소묘성눌적개솔질대필배정위산법진행궤기인수하정위。수선분석료소묘성눌적신호특정，대성눌신호진행예처리적방법，통과역치거조、거리한정화감소채양래강저신호간우화척제다여수거，제고계산효솔。연후침대성눌량측존재교대조성적문제，제출기우개솔질대필배적산법。이용마씨거리계산성눌소묘도여핵전참수지배경지도지간적최근필배점，동시통과치신도제고필배적정도，이심우질대고계득도수하궤기인적절대위자。여전통적최근점질대산법적방진비교표명해산법제고료수하궤기인적고계정도。최후，통과수지실험험증료해산법적유효성。
In order to locate the underwater robot in the pools of the nuclear power plant, the scan sonar is used. First, the signal characteristics of the scan sonar are analyzed, and the preprocessing method of sonar is used to reduce signal interference and eliminate redundant data, and the computational efficiency is improved by preprocessing of the threshold denoising, distance limitation and reduction of sampling. Then, the probabilistic iterative correspondence algorithm is proposed based on the measurement noise of the sonar. The nearest matching points between sonar image and the map of the pools of the nuclear power plant are computed by the Mahalanobis distance. Meanwhile, the degree of confidence is used to improve the matching accuracy, and the absolute position and orientation of underwater robots is estimated by the optimization iterations. The algorithm is compared with the traditional iterative closest point algorithm and the results show that the proposed algorithm improves the estimation accuracy of underwater robots. Finally, experiments carried out in the pool verify the effectiveness of the proposed algorithm.