基于MOOS的自主式水下机器人导航系统

Navigation system of autonomous underwater vehicle based on MOOS

针对自主式水下机器人(autonomous underwater vehicle,AUV)的试验成本极高,水下机器人的应用与算法验证都需要在一个理想的仿真环境中进行测试,且仿真环境的建模较为困难等问题,提出了应用MOOS软件系统对AUV导航系统进行导航位姿、通讯及三维信息的仿真,对MOOS软件系统的通信方法、软件架构、数据采集方式和传感器数据类型等方面进行了参数配置和仿真说明.面对工程导向,从数据产生机制、数据发布订阅和数据解析处理等角度,对MOOS软件系统进行论证分析.分析结果表明,MOOS系统可根据AUV导航系统的预设轨迹信息产生相关环境传感器数据,有效地进行多源信息融合与导航位姿解算.

To solve the problems of autonomous underwater vehicle(AUV)with high test cost,requiring ideal simulation environment for the application of underwater robots and robot verification and difficult modeling of simulation environment,the MOOS software system was used to perform navigation,communication and three-dimensional simulation of the AUV navigation system.The communication methods,the software architecture,the data collection methods and the sensor data types of the MOOS software system were configured and simulated.Based on the perspectives of mechanism,the data subscription and publication and the data analysis and processing,the MOOS software system was analyzed and verified.The results show that the MOOS system can generate relevant environmental sensor data according to the preset trajectory of AUV,which can effectively realize multi-source information fusion and navigation pose calculation.