用无人机+GNSS定位水下机器人，解决海上导航难问题
Scalable Aerial GNSS Localization for Marine Robots
- 无人机搭载GNSS实时追踪水面机器人位置
- 单/多机器人定位误差显著降低，精度达厘米级
- 适合海上无人艇、水下探测等低成本场景
精准定位对水下机器人至关重要，但传统机载全球导航卫星系统（GNSS）因水面反射信号和高成本的水下接收器而难以实现。现有方法如惯性导航、多普勒速度计（DVL）、SLAM及声学定位存在误差累积与计算复杂度高等问题。本文提出一种新方案：利用搭载GNSS的空中无人机，在水面机器人接近水面时进行定位跟踪。实验结果表明，该方法可实现单个与多个水下机器人的高精度定位，具备高效性和可扩展性。
原文摘要 · Abstract (English)
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS receivers. Existing approaches, such as inertial navigation, Doppler Velocity Loggers (DVL), SLAM, and acoustic-based methods, face challenges like error accumulation and high computational complexity. Therefore, a more efficient and scalable solution remains necessary. This paper proposes an alternative approach that leverages an aerial drone equipped with GNSS localization to track and localize a marine robot once it is near the surface of the water. Our results show that this novel adaptation enables accurate single and multi-robot marine robot localization.
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