一种水下机器人系统设计

The System Design of an Autonomous Underwater Vehicle

水下机器人在水域勘测和军事侦查等领域正在发挥越来越重要的角色。针对现阶段水下机器人价格昂贵,设计复杂的特点,设计了一种结构简单的水下机器人,主要由四个无刷电机推进器和密封舱组成。围绕水下机器人系统结构,阐述了机器人的硬件结构与密封方式、卡尔曼滤波在GPS与捷联惯性导航组合导航的应用、控制简化与分解方法与上位机系统的编写和实现。最后,使用该机器人系统在水池中进行运动控制实验。实验结果表明:水下机器人在航行过程中密封可靠,运动平稳,能够满足水下机器人的运动控制要求。

Autonomous underwater robots are playing an increasingly important role in the field of water survey and military investigation. By focusing on the expensive,complicated underwater robot system,a simple underwater robot structure is designed,which is mainly composed of four brushless motor thrusters and a sealed cabin. Based on the structure of underwater vehicle system,the hardware structure,the application of Kalman filter in GPS and strapdown inertial navigation integrated navigation system,control algorithm and host computer system are described. Finally,the robot system is used to control the robot motion in the pool. The experimental results show that the system can meet the requirements of the motion control of the underwater vehicle,and the underwater robot can run stably in the process of navigation.