Self-propulsion type submarine topography and landform mapping system and method based on perception driving

• Main Authors: HE BO, SHAO XINHUI, FENG CHEN, SHEN YUE, GAO QIANG, SHA QIXIN, DONG XINGSHUAI, NIAN RUI
• Format: Patent
• Language: Chinese; English
• Published: 09.03.2016
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to a self-propulsion type submarine topography and landform mapping system and method based on perception driving and belongs to the technical field of mapping of submarine topographies and landforms, mainly aiming at solving the problems that a detection region covered by a detection track is not complete when mobile observation equipment executes a mapping task. The self-propulsion type submarine topography and landform mapping system comprises an underwater self-propulsion type mapping system and a shore-based unit, which are connected through a communication module. The working process comprises the following steps: issuing the mapping task; carrying out sonar data acquisition on the submarine landforms; carrying out characteristic analysis and extraction on acquired sonar data to obtain a pose point of the mobile observation equipment; processing the pose point by a PD-SLAM unit; and after scanning, outputting a submarine topography and landform graph. The self-propulsion type subma