摘要
本文针对智能水下机器人(AUV)导航信息较少的特点,进行了基于航位推算的AUV导航系统研究。首 先利用传感器信息进行了航位推算,然后建立了基于一阶时间相关函数的辛格模型,利用强跟踪卡尔曼滤波 算法对推算结果进行了次最优估计,提高了系统的跟踪能力,改善了导航精度,同时对GPS数据进行了野值 剔赊。松花湖上的试验结果验证了算法的有效性。
Since few available data about navigation imformation can be used in underwater navigation system, this paper presents a navigation algorithm based on dead reckoning of automatic underwater vehicle (AUV). After dead reckoning is carried out using the sensors' output , Singer model is established and an adaptive Kalman filter algorithm is applied to improve the system's precision and reliability. GPS data are also processed. The test performed in the Song Hua Lake has proved the algorithm's practicability.
出处
《中国造船》
EI
CSCD
北大核心
2004年第4期77-82,共6页
Shipbuilding of China
