Research On Entironment Perception And Terrian Modeling For AUV Based On Sonar

Autonomous Underwater Vehicle (AUV) is an integrated system of multiple functions which include environment perception, dynamic decision, planning, control and implementation, etc. It is integrated with multi-disciplinary research achievements including sensor technology, artificial intelligence, automatic control, pattern recognition, information integration and systems engineering. And it has become one of the most active developments in science and technology. According to the AUV production in the world,the paper focuses on environment apperceiving, terrain modeling and SLAM algorithm, the main content as follows:1 .It introduces the significance of this technology and emphasizes the importance of environment perception and modeling terrain to AUV. In the end of this chapter the main problem of AUV environmental perception, terrain modeling and SLAM is analyzed.2.Focused on AUV's perception system, the components of the system are presented with a systematic description from two sides, the internal and the external perception system. At last the model of environmental perception system for AUV is established.3/Mainly focused on the problems of external perception and terrain modeling of AUV, it introduces the sonar model and adopts the improved HIMM (Histogrammic in Motion Mapping) as sonar digital filtering algorithm. Based on the external environment perception of the AUV, the underwater terrain modeling is completed.4.Researched on the SLAM algorithm based on sonar, it presents the principle of the SLAM algorithm. In the light of the nonlinear features of AUV, the discussion is mainly focused on the Extended Kalman Filter(EKF) algorithm and SLAM algorithm.5.According to the method of environment apperceiving and terrain modeling, lake trials were carried out. The efficacy, correctness and applicability of this method have been verified by the experiments. And the simulation shows that the SLAM algorithm can effectively reduce the graphics distortion caused by nonlinearity and improve the credibilityof the three-dimensional display.