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。
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..
出处
《船舶工程》
CSCD
北大核心
2010年第5期67-72,共6页
Ship Engineering
基金
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)
关键词
智能水下机器人
导航
航位推算
误差分析
Autonomous underwater vehicle（AUV）
navigation
dead-reckoning
error analysis
