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Researchers have approached this problem differently.Lucido eta1.,and Sistiaga et a1.match high resolution local depth maps against a large, low resolution reference map. Feder et al. use an on board multibeam sonar to map a region and use that map to navigate the area. This paper presents a system that has been developed for use in areas where high resolution bathymetric data is available.External inputs required by the system are standard INS outputs, a single slant range to a known point and ocean depth measured at the present location of the AUV. The system is presented and results from computer simulations are shown.
研究人员曾接触这个问题differently.lucido eta1 ，和西斯蒂亚加等a1.match高分辨率深入当地的地图对一个大，分辨率低的参考地图。菲德等人。使用船上的多波束声纳，以一个地区的地图和使用地图浏览该地区。本文提出了一种系统，已开发使用的地方，高分辨率测深数据是available.external所需投入的，由该系统的标准程式产出，一个单一的倾斜范围内的一个已知点和海洋的深度来衡量目前的位置对水下机器人。该系统是和结果由计算机模拟显示。