The trend of ocean exploitation puts forward higher requirements for automatic vehicles, while navigation module has been the development constraint for underwater robots. NATURE reported that some sea-turtles recur to geomagnetic "map" for navigation. Although the concrete mechanism has not been made clear yet, this still offers some cue to underwater navigation research. Now bionic researches reckon that matching is one very-possible positioning mode in this subject. Simultaneously remote sensing image processing techniques also supply some inspiration. Its traditional iterative closest point (ICP) algorithm for image registration can be transplanted for location determination. Combined with inertial navigation system (INS) which is as common navigation kernel, this paper emphasizes on how to modify and improve ICP algorithm according to underwater geomagnetic condition. Related aspects such as hunting window concluded from INS and closest points' quick-searching by stepwise extrapolation are also analyzed for the integrity of the proposed method above. The algorithm's applicability is concluded mathematically from the transformation relationship between INS's parameters and related real ones. Then simulation experiments for validation of the proposed algorithm's effectiveness, which is based on the real geomagnetic reference data, are carried out.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Underwater geomagnetic navigation based on ICP algorithm


    Contributors:
    Lin, Yi (author) / Yan, Lei (author) / Tong, Qingxi (author)


    Publication date :

    2007


    Size :

    6 Seiten, 9 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Geomagnetic Inversion Localization Algorithm for Long-Distance Underwater Navigation

    Li, ZiYuan / Yu, HuaPeng / Wang, ChongYang et al. | Springer Verlag | 2022


    Geophysical navigation of autonomous underwater vehicles using geomagnetic information

    Teixeira, Francisco C. / Pascoal, Antonio M. | Tema Archive | 2008


    Information Fusing Algorithm in Inertial/Geomagnetic Navigation System

    Liu, Yu-xia / Zhang, Peng / Wang, Xin | Springer Verlag | 2021


    Information Fusing Algorithm in Inertial/Geomagnetic Navigation System

    Liu, Yu-xia / Zhang, Peng / Wang, Xin | TIBKAT | 2022


    Research on particle filter based geomagnetic aided inertial navigation algorithm

    Ming Liu, / Haijun Wang, / Qingye Guo, et al. | IEEE | 2010