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Proceedings Paper

Navigation for underwater vehicles using gray-scale histogram
Author(s): Hongyu Bian; Ziqi Song; Adam Zielinski; Zhigang Zhang
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Paper Abstract

Terrain aided navigation is a supplement to inertial navigation system for vehicles in long-time missions. By matching real-time data with a known reference digital terrain map, the vehicle’s position can be estimated. This paper proposes a novel underwater terrain matching method involving image processing techniques. Traditional gray-scale histogram of images is upgraded by introducing spatial information into it. Edge corner pixel is defined in order to represent the distribution complexity of pixels in the same gray level. This concept is used to calculate the correlation between the real-time data and the reference map. Simulations show that the matching process can give robust estimation of underwater platform’s position in noise background. Accuracy of the results can reach less than 10 pixels with the image resolution at 1 meter/pixel and with various areas of real-time images.

Paper Details

Date Published: 3 December 2015
PDF: 6 pages
Proc. SPIE 9794, Sixth International Conference on Electronics and Information Engineering, 979420 (3 December 2015); doi: 10.1117/12.2203237
Show Author Affiliations
Hongyu Bian, Harbin Engineering Univ. (China)
Ziqi Song, Harbin Engineering Univ. (China)
Univ. of Victoria (Canada)
Adam Zielinski, Univ. of Victoria (Canada)
Zhigang Zhang, Harbin Engineering Univ. (China)

Published in SPIE Proceedings Vol. 9794:
Sixth International Conference on Electronics and Information Engineering
Qiang Zhang, Editor(s)

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