| 水下机器人航位推算导航系统及误差分析 |
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| 引用本文： | 孙玉山,代天娇,赵志平.水下机器人航位推算导航系统及误差分析[J].船舶工程,2010,32(5):67-72. |
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| 作者姓名： | 孙玉山 代天娇 赵志平 |
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| 作者单位： | 哈尔滨工程大学,水下智能机器人技术国防科技重点实验室,哈尔滨,150001;哈尔滨工程大学,船舶工程学院,哈尔滨,150001;哈尔滨电碳研究所,哈尔滨,150030 |
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| 基金项目： | 哈尔滨工程大学基础研究基金资助(HEUFT08017); 国家“863”计划资助项目(2008AA092301); 国家973基金资助项目(61311101) |
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| 摘 要： | 构建了基于GPS/航位推算的智能水下机器人(AUV)组合导航系统,阐述了水下机器人导航系统体系结构,详细介绍了基于强跟踪卡尔曼滤波和辛格模型的航位推算导航算法,解决了水下机器人难以建立精确数学模型的问题,最后结合海上实验数据深入地分析了产生航位推算误差的原因,并有针对性地提出了降低水下机器人航位推算导航系统误差的方案。
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| 关 键 词： | 智能水下机器人 导航 航位推算 误差分析 |
Error Analysis of Dead-reckoning Navigation System for Autonomous Underwater Vehicle |
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| SUN Yu-shan,DAI Tian-jiao,ZHAO Zhi-ping.Error Analysis of Dead-reckoning Navigation System for Autonomous Underwater Vehicle[J].Ship Engineering,2010,32(5):67-72. |
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| Authors: | SUN Yu-shan DAI Tian-jiao ZHAO Zhi-ping |
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| Institution: | SUN Yu-shan1a,DAI Tian-jiao1b,ZHAO Zhi-ping2(1.Harbin Engineering University,a.State Key Laboratory of Autonomous Underwater Vehicle,b.College of Shipbuilding Engineering,Harbin 150001,China,2.Harbin Electrical Carbon Research Institute,Harbin 150030,China) |
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| Abstract: | The integrated navigation system of autonomous underwater vehicle based on GPS/Dead-reckoning navigation system is constructed,and navigation system structure is also presented.The extended Kalman filter and Singer model are utilized to handle the imprecise navigation model and the navigation model error is discussed in detail.Finally the navigation system error is analyzed with sea-trial data and the proposal is presented to improve the performance of the navigation system.. |
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| Keywords: | Autonomous underwater vehicle(AUV) navigation dead-reckoning error analysis |
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