スキャンイメージングソナーに基づくROVオペレータ補助システムの開発

抄録

This paper designs an underwater map construction algorithm for ROV. The algorithm takes ROS as the framework, uses imaging sonar and IMU sensor, and completes path display and map mosaic based on OpenCV. This algorithm obtains the real-time pose and moving path through IMU, and stitches the sonar imaging at each interval on the moving path, so as to obtain the map of the whole region. In the aspect of mileage calculation, this algorithm calculates the difference based on the distance measured by sonar and combines it with IMU angle. Compared with the direct integration calculation using inertial navigation, the error is smaller and the accuracy of the map is improved.