두 개의 하이드로폰을 이용한 수중 음원 방향각 기반의 2차원 위치 인식 기법

Abstract

Localization of underwater vehicle is essential to use underwater robotic systems for various applications effectively. For this purpose, this paper presents a method of two-dimensional SLAM for underwater vehicles equipped with two hydrophones. The proposed method uses directional angles for underwater acoustic sources. A target signal transmitted from acoustic source is extracted using band-pass filters. Then, directional angles are estimated based on Bayesian process withgeneralized cross-correlation. The acquired angles are used as measurements for EKF-SLAM to estimate both vehicle location and locations of acoustic sources. Through these processes, the proposed method provides reliable estimation for twodimensional locations of underwater vehicles. Experimental results demonstrate the performance of the proposed method in a real sea environment.