Research Article
Underwater Matching Correction Navigation Based on Geometric Features Using Sonar Point Cloud Data
Table 1
Results of the experiment.
| Experiments | Water tank | Pose of ROV | Length (m) | Width (m) | (m) | (m) | (°) |
| 1st | | | | | | Test results | 6.383 | 3.0963 | 1.7818 | 2.2843 | 83.293 | Ground truth | 6.0 | 3.0 | 1.80 | 2.30 | 84.52 | Error | 0.383 | 0.0963 | −0.0182 | −0.0157 | −1.227 | 2nd | | | | | | Test result | 6.0238 | 3.0528 | 1.9624 | 1.6965 | 43.38 | Ground truth | 6.0 | 3.0 | 2.0 | 1.70 | 44.56 | Error | 0.0238 | 0.0528 | −0.0376 | −0.0035 | −0.18 |
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