Abstract
A new underwater object detection method based on joint Gravity-Gradient and Magnetic-Gradient Inversion algorithms is proposed in this paper. Magnetic gradient and gravity gradient anomalies induced by an underwater object can be measured and inversed to estimate the relative changes in distance between underwater object and underwater vehicle. The weight least squares estimation is introduced to combine equations of magnetic gradient and gravity gradient inversion. Therefore, the joint inversion method gets an optimal relative position of underwater object using two kinds of data. Simulation results show that the proposed method is more efficient than the previous Joint gravity – gradient tensor inversion and magnetic gradient tensor inversion respectively.
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Wu, M., Yao, J. (2015). Magnetic–Gravity Gradient Inversion for Underwater Object Detection. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_50
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DOI: https://doi.org/10.1007/978-3-319-22879-2_50
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