Construction Method of the Topographical Features Model for Underwater Terrain Navigation

Wang, Lihui; Yu, Lean; Zhu, Yanhua

doi:10.1515/pomr-2015-0043

Cited by 8 publications

(9 citation statements)

References 14 publications

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“…The proposed method takes advantage of the reliable, short-term predictions of an ocean model, and the utility of priors used in terrain-based navigation over areas of significant bathymetric relief to bound uncertainty error in dead-reckoning navigation. Another author [14,15] proposes a comprehensive evaluation method for terrain navigation information and constructs an underwater navigation information analysis model, which is associated with topographic features. Similar problems are presented in [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation

et al. 2019

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Autonomous navigation is an important task for unmanned vehicles operating both on the surface and underwater. A sophisticated solution for autonomous non-global navigational satellite system navigation is comparative (terrain reference) navigation. We present a method for fast processing of 3D multibeam sonar data to make depth area comparable with depth areas from bathymetric electronic navigational charts as source maps during comparative navigation. Recording the bottom of a channel, river, or lake with a 3D multibeam sonar data produces a large number of measuring points. A big dataset from 3D multibeam sonar is reduced in steps in almost real time. Usually, the whole data set from the results of a multibeam echo sounder results are processed. In this work, new methodology for processing of 3D multibeam sonar big data is proposed. This new method is based on the stepwise processing of the dataset with 3D models and isoline maps generation. For faster products generation we used the optimum dataset method which has been modified for the purposes of bathymetric data processing. The approach enables detailed examination of the bottom of bodies of water and makes it possible to capture major changes. In addition, the method can detect objects on the bottom, which should be eliminated during the construction of the 3D model. We create and combine partial 3D models based on reduced sets to inspect the bottom of water reservoirs in detail. Analyses were conducted for original and reduced datasets. For both cases, 3D models were generated in variants with and without overlays between them. Tests show, that models generated from reduced dataset are more useful, due to the fact, that there are significant elements of the measured area that become much more visible, and they can be used in comparative navigation. In fragmentary processing of the data, the aspect of present or lack of the overlay between generated models did not relevantly influence the accuracy of its height, however, the time of models generation was shorter for variants without overlay.

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Section: Introductionmentioning

confidence: 99%

Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation

et al. 2019

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“…The comparative navigation methods have been mainly used, so far, for positioning with the aid of a radar and electronic navigation maps [18][19][20], although in recent years the comparison methods are becoming more and more frequently used in underwater positioning [21][22][23][24][25][26]. The research direction which has recently been very popular in this area refers to mobile navigation [27][28][29].…”

Section: Comparative Navigation Methodsmentioning

confidence: 99%

MSIS Image Postioning in Port Areas with the Aid of Comparative Navigation Methods

Wawrzyniak

Stateczny²

2017

Polish Maritime Research

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The article presents a method to determine the position of mechanically scanned sonar images by comparing them with the database of simulated synthetic images. The synthetic images are generated from high-density bathymetric data coming from the same fragment of water region, using the ray tracing method. The article discusses the issues related to the choice of the probability function as the method of image comparing which allows to find the correct georeference of the real image. For the correlation method and the logical conjunction method, which are believed to give the best results, detailed studies were performed, including boundary cases. The obtained results of matching are presented in tabular and graphic form.

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“…The mean of geomagnetic intensity represents the physical distribution of the geomagnetic field quantitatively. Standard deviation (Wang and Yu, 2015) reflects the degree of dispersion and the overall ups and downs. The standard deviation is proportional to the geomagnetic matching area suitability.…”

Section: Characteristic Parameters Of the Geomagnetic Mapmentioning

confidence: 99%

Analysis and Simulation of Geomagnetic Map Suitability Based on Vague Set

Wang

Qiao

et al. 2016

J. Navigation

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An evaluation method named vague set is proposed to describe the suitability of a geomagnetic map. It is based on the Fuzzy Decision Making (FDM) method, and overcomes the FDM model's shortcomings that favouring and opposing content cannot be taken into account simultaneously. The membership function and non-membership function are used to define the influence of the geomagnetic map parameters on map suitability, including standard deviation, information entropy, roughness and slope variance. The weight of each geomagnetic map parameter is calculated by establishing an optimisation model. Vague set data are divided into four types after classification, and Weighted Score Function Values (WSFVs) of matching areas are obtained by using the Weighted Score Function (WSF) method. Then, WSFV of each matching area are compared to select an optimal area. Simulation results demonstrate that geomagnetic map suitability is positively proportional to the function value, and matching error is negatively proportional to the WSFV of the matching area. K E Y

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Construction Method of the Topographical Features Model for Underwater Terrain Navigation

Cited by 8 publications

References 14 publications

Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation

Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation

MSIS Image Postioning in Port Areas with the Aid of Comparative Navigation Methods

Analysis and Simulation of Geomagnetic Map Suitability Based on Vague Set

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