水下机器人定位方法综述
内容摘要：
机器人定位是指通过机器人传感系统实时获得其所在的位置和航向信息，是移动机器人完成复杂实际任
务的基础。针对水中机器人，介绍了基于水声、基于 GPS 和基于概率等几种典型的水下定位方法。分别描述了这些
方法的实现原理，并分析了它们的特点和存在的问题。最后，展望了该方向今后的发展趋势和应用前景。
关键词：
水下机器人；定位方法；水声定位；GPS 定位；概率定位
中图分类号：TP242 文献标志码：A
Abstract: Robot localization means that the robot obtains its position and heading information through its sensor systems in real time, which is the start point of complex real applications for mobile robots. In this paper, for underwater robots, three typical localization methods including acoustic localization, GPS-based localization and probabilistic localization are introduced. Their implementation principles are described and their advantages and existing problems are analyzed, respectively. Finally, the direction of future development and application prospect are discussed.
Key words: underwater robot; localization method; acoustic localization; GPS-based localization; probabilistic localization
