Research on Relative Pose Estimation Method in AUV Dynamic Docking
Underwater dynamic docking can help the autonomous underwater vehicle(AUV)to realize underwater energy supple-ment and data exchange with the mother boat,and improve the AUV's operation ability.The capture dynamic docking requires that the AUV has the ability to accurately estimate the relative pose between the mother boat and the AUV.A pose estimation method based on stochastic inertial weighted particle swarm optimization(SIWPSO)was proposed to solve the problem of incor-rect estimation of AUV relative to the mother boat caused by the center extraction error of homing light.Firstly,the pose estima-tion model of AUV relative to the mother boat was established by optimizing the imaging error function of the guidance lamp to take the minimum value,so as to suppress the interference of pixel center extraction error.Then,the pose estimation model was solved by using the stochastic inertial weighted particle swarm optimization algorithm to obtain the optimal relative pose estima-tion value.Experimental results show that the proposed pose estimation method is effective,and the relative pose error is within 0.1°and the relative position error is within 0.50m.The average estimation error of each attitude Angle is less than 2°,and the av-erage estimation error of each position is less than 0.20m,indicating high estimation accuracy and good stability.
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维普
