摘要
针对固定单信标情况下水下机器人纯距离导航非线性系统的能观性和稳定性,给出了理论分析和证明.在导航系统稳定性分析基础上,提出一种保证滤波器渐近稳定的新方法,并提出固定单信标情况下的保证导航系统能观的机器人机动方案和路径.最后,仿真实验结果表明了该方法的有效性.
Both observability and stability of a range-only navigation system of underwater robot based on single stationary beacon are analyzed and proved. A new method is presented, which keeps the navigation filter asymptotically stable. The mobile plan and trajectory guaranteeing navigation system observable are also presented under the condition of single beacon. The simulation results show the effectiveness of this method.
出处
《控制与决策》
EI
CSCD
北大核心
2010年第9期1354-1358,共5页
Control and Decision
基金
国家863计划项目(2006AA09Z204)
关键词
固定单信标
水下机器人
位置修正
能观性
机动路径
Single beacon
Underwater robot
Navigation error amendment
Observability
Mobile trajectory
