摘要
针对适合捷联式重力仪的AUV搭载平台的选型问题,基于国内AUV实际航行数据,分析了多推进器组合、推进器和浮力舱组合、推进器和鳍舵组合等3类AUV的定深航行运动特性;推导了AUV水下航行在3个坐标轴方向上对重力仪产生的运动加速度计算公式,得到运动加速度与AUV水下6个自由度运动要素的解析表达式;基于运动加速度分析,讨论了适用于水下移动重力测量的AUV平台和推进装置设计,进行了AUV搭载平台的优选,并给出了重力仪安装位置建议;选定的AUV实验平台实施移动重力测量验证试验重复线精度达到0.42 mGal,验证了搭载平台优选的有效性。
Aiming at the selection of AUV platform suitable for Strapdown gravimeter,based on the actual navigation data of AUV in China,the motion characteristics of three types of AUV are analyzed,including multi propeller combination,propeller and buoyancy chamber combination,propeller and fin rudder combination,etc.;the calculation formula of motion acceleration of AUV to gravimeter in three coordinate axis directions is deduced,and the motion acceleration and the analytic formula of AUV mation elements in six degree of freedom are obtained.Based on the analysis of motion acceleration,the design of AUV platform and propulsion device suitable for underwater mobile gravimetry is discussed.The optimization of AUV platform is carried out and the installation position of gravimeter is suggested.The accuracy of repetition line of mobile gravimetry verification experiment is 0.42 mgal for the selected AUV platform.Effectiveness of platform optimization is verified.
作者
张志强
李建成
郑晗
文无敌
ZHANG Zhiqiang;LI Jiancheng;ZHENG Han;WEN Wudi(School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;School of Weaponry Engineering,Naval University of Engineering,Wuhan 430033,China;CSIC-No.710 Research&Development Institute,Yichang 443003,China)
出处
《海洋测绘》
CSCD
2020年第4期9-16,共8页
Hydrographic Surveying and Charting
基金
国家自然科学基金(41874091,41774021)。
