Research on Geomagnetic-matching Localization Algorithm for Unmanned Underwater Vehicles

摘要：

T his paper presents a new algorithm for underwater geomagnetic-matching localization.The idea is rooted from image registration and workpiece localization problem.One essential elements of the new algorithm is an algorithm to solve transformation between two point sets.A related problem to this is fitting of two point sets (FTPS).In this paper,FTPS is first introduced and formulated to a least-squares problem.Then four algorithms used to solve FTPS are introduced.Another essential element of the new algorithm is iteration.The iteration method in ICCP is adopted.Based on above two aspects,the main steps of the new method are given.Simulation experiments are designed to evaluate the performance of the new algorithm.The results show that the new algorithm can solve geomagnetic-matching localization satisfactorily.

作者: Zhixin Ren Longwei Chen Hui Zhang Meiping Wu

作者单位: College of Electromechanical Engineering and Automation National University of Defense Technology Changsha,Hunan Province,410073,China

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1025-1029

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）