gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.2017.25.3.115-129gyroscopy-324Research ArticleСтатьиНавигация автономного необитаемого подводного аппарата по стереоизображениям с формированием 3D-модели средыNavigation of autonomous unmanned underwater vehicle using stereo images with 3D modeling of environment.БобковВ. А.BobkovV. A.

Бобков Валерий Александрович. Доктор технических наук, заведующий лабораторией

КудряшовА. П.KudryashovA. P.

Кудряшов Алексей Павлович. Кандидат технических наук, младший научный сотрудник.

МельманС. В.Mel’manS. V.

Мельман Сергей Владимирович. Кандидат технических наук, младший научный сотрудник.

ЩербатюкА. Ф.ShcherbatyukA. F.

Щербатюк Александр Федорович. Доктор технических наук, член-корреспондент РАН, директор.

Институт автоматики и процессов управления ДВО РАН, Дальневосточный государственный университет (Владивосток).РоссияInstitute of Automation and Control Processes, Far-Eastern Branch of RAS, Far-Eastern State University (Vladivostok)Russian FederationИнститут автоматики и процессов управления ДВО РАН (Владивосток).РоссияInstitute of Automation and Control Processes, Far-Eastern Branch of RAS, Far-Eastern State University (Vladivostok)Russian FederationИнститут проблем морских технологий ДВО РАН, Дальневосточный государственный университет (Владивосток).РоссияInstitute of Automation and Control Processes, Far-Eastern Branch of RAS, Far-Eastern State University (Vladivostok)Russian Federation201726112025253115129Copyright © Бобков В.А., Кудряшов А.П., Мельман С.В., Щербатюк А.Ф., 20252025Бобков В.А., Кудряшов А.П., Мельман С.В., Щербатюк А.Ф.Bobkov V.A., Kudryashov A.P., Mel’man S.V., Shcherbatyuk A.F.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/324

Описан метод навигации автономного подводного аппарата, основанный на визуальной одометрии. Предложены модификации метода, направленные на повышение точности локализации аппарата и снижение вычислительных затрат. Например, рассмотрен алгоритм с длительным прослеживанием особенностей на изображениях, повышающий точность вычисления локального перемещения аппарата; предложены адаптивная методика расчета траектории, а также метод визуальной навигации подводного аппарата в условиях локального маневрирования, основанный на использовании виртуальной сети координатной привязки. Описан метод решения задачи 3D-реконструкции объектов по изображениям, необходимый при выполнении инспекционных подводных работ.

A method of navigating an autonomous unmanned underwater vehicle, based on visual odometry is described. Modifications to the methods are proposed to enhance the accuracy of the vehicle localization and to reduce the cost of computations. This includes an algorithm with continuous tracking of image features, which increases the accuracy of vehicle local travel computation; an adaptive methodology of trajectory calculation is proposed, as well as a method of visual navigation of an underwater vehicle under conditions of local maneuvering, based on virtual coordinate referencing frame. Also, a method of 3D reconstruction of objects by images, essential during underwater inspections, is described.

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The authors declare that there are no conflicts of interest present.