Underwater digital elevation map gridding method based on optimal partition of suitable matching area Article Swipe
Rupeng Wang
,
Ye Li
,
Teng Ma
,
Cong Zheng
,
Gong Yusen
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1177/1729881418824833
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1177/1729881418824833
Global positioning system signal does not penetrate into the water volume, and autonomous underwater vehicle have to use the inertial navigation system that will cause an inevitable cumulative error. Terrain reference position can zero out the inertial navigation system error and have been widely used. To improve the positioning accuracy, the planning path of the underwater robot is required to pass through the suitable matching areas in the path planning stage. So, a gridding map is needed to quantify the suitability of the terrain and to partition the suitable matching area and the unsuitable matching area optimally. In this article, we will focus on the quantitative method of terrain suitability and the grid parameter solution method for optimal partition of suitable matching area. Finally, the validity of the algorithm is obtained using the ship borne data. The results show that in the low suitability blocks, the influence of measurement error on terrain reference position accuracy is higher than that in high suitability blocks. And the average of terrain reference position deviation obtained of the path passed through the high suitability area is 53.3% which is lower than that of the path passed through the low suitability area, and the standard deviation of the position deviation is reduced by 21.15%.
Related Topics
Concepts
Computer science
Terrain
Underwater
Inertial navigation system
Dead reckoning
Standard deviation
Position (finance)
Global Positioning System
Matching (statistics)
Inertial measurement unit
Motion planning
Computer vision
Real-time computing
Artificial intelligence
Robot
Orientation (vector space)
Mathematics
Geology
Telecommunications
Statistics
Finance
Economics
Biology
Oceanography
Ecology
Geometry
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1177/1729881418824833
- https://journals.sagepub.com/doi/pdf/10.1177/1729881418824833
- OA Status
- gold
- Cited By
- 10
- References
- 12
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2929757962
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W2929757962Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1177/1729881418824833Digital Object Identifier
- Title
-
Underwater digital elevation map gridding method based on optimal partition of suitable matching areaWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-03-01Full publication date if available
- Authors
-
Rupeng Wang, Ye Li, Teng Ma, Cong Zheng, Gong YusenList of authors in order
- Landing page
-
https://doi.org/10.1177/1729881418824833Publisher landing page
- PDF URL
-
https://journals.sagepub.com/doi/pdf/10.1177/1729881418824833Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://journals.sagepub.com/doi/pdf/10.1177/1729881418824833Direct OA link when available
- Concepts
-
Computer science, Terrain, Underwater, Inertial navigation system, Dead reckoning, Standard deviation, Position (finance), Global Positioning System, Matching (statistics), Inertial measurement unit, Motion planning, Computer vision, Real-time computing, Artificial intelligence, Robot, Orientation (vector space), Mathematics, Geology, Telecommunications, Statistics, Finance, Economics, Biology, Oceanography, Ecology, GeometryTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
10Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 2, 2024: 1, 2023: 4, 2020: 2, 2019: 1Per-year citation counts (last 5 years)
- References (count)
-
12Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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