| 摘要 |
PURPOSE: A device and a method for estimating the position of an underwater robot are provided to accurately measuring a three-dimensional position of the underwater robot in water by solving problems regarding errors, difficulty of installing a sensor, and cost. CONSTITUTION: A device for estimating the position of an underwater robot comprises an inner sensor unit(110), an outer sensor unit(120), a potential position obtaining unit(130), a reliability obtaining unit(140), a potential position rearrangement unit(150), and a positioning unit(160). The reliability obtaining unit obtains the reliability for potential particles by allowing environmental information to a random variable at each sampling time. The potential position rearrangement unit rearranges the potential particles according to reliability. The determining unit calculates an average position of the potential particles rearranged at each sampling time and determines a calculated average position as a current position of the underwater robot. [Reference numerals] (110) Inner sensor unit; (120) Outer sensor unit; (130) Potential position obtaining unit; (131) Potential position generating unit; (132) Potential position update unit; (140) Reliability obtaining unit; (150) Potential position rearrangement unit; (160) Positioning unit; (AA) Speed information; (BB) Potential particle; (CC) Environment information; (DD) Reliability; (EE) Rearranged potential particle; (FF) Current position |
