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Intelligent assistance positioning methodology based on modified iSAM for AUV using low-cost sensors

机译：基于低成本传感器的AUV改进型iSAM智能辅助定位方法

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摘要

This paper focuses on the application of low-cost sensors for autonomous underwater vehicle (AUV). We propose an intelligent assistance positioning methodology by combining the modified incremental smoothing and mapping (iSAM) and constrained optimally pruned extreme learning machine (OP-ELM) for low-cost sensors, which makes full use of GPS data and produce a variety of correction models. Compared to relinearizing and variable reordering by period batch step in the original iSAM, modified iSAM is implemented variable reordering alone and conducted adaptive relinearization when the value of local Chi-square exceeded a certain threshold. Meanwhile, a novel constrained OP-ELM is presented by mapping the output to the constraint space, which provides full guarantee for generating reliable correction model. When GPS is valid, the constrained OP-ELM is applied to the low-cost sensors to generate correction model. Simultaneous, the correction model of measurement for modified iSAM is also given by this way. Once GPS becomes invalid, the correction models are used to amend the low-cost sensors data and measurement model for getting more accurate location information. Experimental results and analysis show that the proposed method outperforms the traditional algorithm, which RMSE can improve by at most 83.8% than Extended Kalman Filter's (EKF).
机译：本文重点介绍低成本传感器在自动水下航行器（AUV）中的应用。我们结合修改后的增量平滑和映射（iSAM）和受约束的最优修剪极限学习机（OP-ELM），针对低成本传感器提出了一种智能辅助定位方法，该方法可以充分利用GPS数据并生成各种校正模型。与原始iSAM中按周期批处理步骤进行线性化和变量重新排序相比，改进的iSAM仅实现了变量重新排序，并且当局部卡方值超过某个阈值时进行了自适应线性化。同时，通过将输出映射到约束空间，提出了一种新颖的约束OP-ELM，为生成可靠的校正模型提供了充分的保证。当GPS有效时，将约束OP-ELM应用于低成本传感器以生成校正模型。同时，还通过这种方式给出了改进的iSAM的测量校正模型。一旦GPS失效，将使用校正模型来修改低成本传感器数据和测量模型，以获取更准确的位置信息。实验结果和分析表明，该方法优于传统算法，RMSE可以比扩展卡尔曼滤波器（EKF）改进最多83.8％。

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  • 来源
    《Ocean Engineering》 |2018年第15期|36-46|共11页
  • 作者

    Guo Jia; He Bo; Duan Huan;

  • 作者单位

    Ocean Univ China, Sch Informat Sci & Engn, 238 Songling Rd, Qingdao 266100, Peoples R China;

    Ocean Univ China, Sch Informat Sci & Engn, 238 Songling Rd, Qingdao 266100, Peoples R China;

    Ocean Univ China, Sch Informat Sci & Engn, 238 Songling Rd, Qingdao 266100, Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    AUV; Low-cost sensors; OP-ELM; iSAM; Sensors correction model;

    机译：AUV;低成本传感器;OP-ELM;iSAM;传感器校正模型;

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