Location and mapping for AUV Using A forward-looking sonar

A method of location and mapping based on the forward-looking sonar is proposed to resolve the problem of the singleness of underwater navigation and the low precision of location. At first, the features of working environment models were represented based on the theory of symmetries and perturbation model, and the information of environment was obtained by a forward-looking sonar, and the sonar data were corrected according to DVL data. Secondly, Hough transform was used to extract geometric features in the corrected data of environment, and the current position of AUV was located by the matching of geometric features with features of working environment models. At last, the simulation results show the viability of the proposed approach.