摘要
传统AUV依靠水下惯性导航设备自主定位的方法无法实时进行水下信息感知和系统控制。水声定位是AUV定位导航技术的一个研究领域,可用于水下运动目标定位与导航、水下静止目标勘测等。文章分析阐述三种经典AUV定位方法,进一步研究AUV快速定位解算原理,论证影响AUV运载器在深海工作时产生的定位误差来源并进行仿真试验分析,最终将研究成果应用在目前现有某型AUV运载器上,实现自身水下定位、导航与远程遥控。
The traditional AUV relies on the autonomous positioning method of underwater inertial navigation equipment which is difficult to perform underwater information perception and system control in real time.The underwater acoustic positioning is a research area of AUV positioning and navigation technology,which can be used for positioning and navigation of underwater moving targets and underwater stationary target surveying.The article analyzes and elaborates three classic AUV positioning methods and further studies the AUV rapid positioning solution principle.It demonstrates the sources of positioning errors that affect the AUV vehicle when working in the deep sea,and conducts simulation test analysis.Finally the research results are applied to a certain type of existing AUV carrier,which realizes underwater self-positioning,navigation and remote control.
作者
史博
陈琳
戴宪邦
宋泓儒
芦雪松
SHI Bo;CHEN Lin;DAI Xianbang;SONG Hongru;LU Xuesong(Harbin Engineering University,College of Underwater Acoustics Engineering,Harbin 150001,China;Harbin Engineering University,College of Physics and Optoelectronic Engineering,Harbin 150001,China;Shanghai Marine Equipment Research Institute,Shanghai 200031,China;Shanghai Marine Technology Research Institute,Shanghai 200032,China)
出处
《船舶工程》
CSCD
北大核心
2020年第6期98-104,共7页
Ship Engineering
关键词
自主水下航行器
水声定位导航
圆形交汇算法
误差分析
autonomous underwater vehicle(AUV)
underwater acoustic positioning and navigation
circular intersection algorithm
error analysis
