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1、ImprovedVehicleBasedMultibeamBathymetryusingSub-mapsandSLAMChrisRomanHanumantSinghMIT/WHOIJointPrograminAppliedDepartmentofAppliedOceanPhysicsandEngineeringOceanScienceandEngineeringWoodsHoleOceanographicInstitutionMassachusettsInstituteofTechnologyWoodsHole,MA,USA
2、Cambridge,MA,USAhanu@whoi.educroman@whoi.eduAbstract—Thispaperpresentsanalgorithmtoimprovesub-groundreferencedpositionestimateswithboundederror.Un-seaacousticmultibeambottommappingbasedonthesimultane-fortunately,theactualerrorstatisticsarehighlycoupledtotheousmappi
3、ngandlocalization(SLAM)methodology.Multibeamenvironmentandaredif?culttocharacterize[3].LBLsystemsbathymetryfromunderwaterwatervehiclescanyieldvaluablealsorequirethedeploymentofadditionalinfrastructurethatlargescaleterrainmapsofthesea?oor,buttheoverallaccuracyofthes
4、emapsistypicallylimitedbytheaccuracyofthevehiclemakesquicklysurveyinganareadif?cult.positionestimates.Thesolutionpresentedhereusessmallbathy-Subseavehiclesalsoemploydeadreckoning(DR)navi-metricpatchescreatedovershorttimescalesinasub-mappinggationusingacousticmeasur
5、ementsofthevehicle’sgroundcontext.Thesepatchesareregisteredwithrespecttooneanotherrelativevelocityandattitude,obtainedfromaninertialnav-andassembledinasinglecoordinateframetoproduceamoreigationsystem(INS).Thismethodofnavigationissubjectaccurateterrainestimateandpro
6、videimprovedrenavigationofthevehicletrajectory.Themappingisimplementedusingatounboundedpositionerrorgrowthoverlongtimescales.delayedstateextendedKalman?lter(EKF)andresultsareshownHowever,thiserrorgrowthcanbeslowedbyusinghighqualityforarealworldmultibeamdatasetcolle
7、ctedattheMid-AtlanticINSsensorstoproduceaccurateshorttermnavigation[4].TheridgeusingtheJASONROV.primarynavigationsensorforDRnavigationunderwateristheIndexTerms—bathymetry,acousticmapping,SLAM,multi-acousticDopplervelocitylog(DVL).beamInrecentyearsthesimultaneousmap
8、pingandlocalizationcommunityhasfocusedonthecoupledproblemofmappingI.INTRODUCTIONanareawitharobotwhileconcurrentlyderivingimprovedBathymetricterra
