基于多普勒和光纤陀螺水下机器人导航系统研究 |
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引用本文: | 俞建成,张艾群,王晓辉,苏立娟.基于多普勒和光纤陀螺水下机器人导航系统研究[J].船海工程,2006,35(2):105-108. |
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作者姓名: | 俞建成 张艾群 王晓辉 苏立娟 |
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作者单位: | 1. 中国科学院沈阳自动化研究所,沈阳,110016;中国科学院研究生院,北京,100039 2. 中国科学院沈阳自动化研究所,沈阳,110016 3. 东北大学机械工程与自动化学院,沈阳,110004 |
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基金项目: | 国家863计划资助项目(2002AA401003) |
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摘 要: | 对基于DVL和FOG的导航方法进行研究,设计了导航方法的无缆水下机器人导航系统,分析导航系统的主要误差源,采用扩展Kalman滤波算法辨识传感器的安装偏差,通过湖试数据验证了该算法的稳定性和正确性。
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关 键 词: | 水下机器人 DVL 光纤陀螺 导航 |
文章编号: | 1671-7953(2006)02-0105-04 |
收稿时间: | 2005-10-11 |
修稿时间: | 2005-11-14 |
Research on underwater vehicles navigation system based on DVL and fiber-optic gyro |
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Authors: | YU Jian-cheng ZHANG Ai-qun WANG Xiao-hui SU Li-juan |
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Institution: | 1. Shenyang Institute of Automation China Academy of Sciences Shenyang 110016 ; 2. Graduate School of the China Academy of Sciences Beijing 100039;3.School of Mechanical Engineering and Automation Northeastern University Shenyang 110004 |
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Abstract: | This paper researches on underwater vehicles autonomous navigation method based on DVL and fiber-optic gyro(FOG),and designs an autonomous navigation system suited to large-range operating autonomous underwater robost.Its error identification problem is discussed,and an identification algorithm based on extended Kalman filter is proposed.The stability and correctness of the algorithm is validated by lake-field test data. |
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Keywords: | underwater robost DVL fiber-optic gyro navigation |
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