基于多传感器信息融合的海底测绘机器人导航系统设计

Design of Navigation System for Submarine Mapping Robot Based on Multi-sensor Information Fusion

测绘机器人海底巡检可以解决人工作业的安全威胁,面对复杂的海底作业环境,设计了基于多传感器信息融合的海底测绘机器人导航系统。通过对巡检机器人的功能板块划分,构建海底测绘机器人导航控制系统框架,划定机器人测绘的频率范围,设计多端反馈信号处理电路,基于多传感器信息融合方式选择主要和局部滤波器的状态向量,对应机器人海底测绘图像;以特征识别技术搭建海底导航模型,描述海底测绘目标物位置。实验结果表明:该文系统在海底测绘过程中,经度、纬度和高度定位误差,可以控制在1.25 m之内。东向、北向和天向速度误差在0.8 m/s内,具有较好的实际应用效果。

The submarine patrol of surveying and mapping robot can solve the security threat of manual operation.Facing the complex submarine operation environment,a navigation system of seabed surveying and mapping robot based on mul ti-sensor information fusion is designed. By dividing the functional blocks of the inspection robot,the navigation control system framework of the seabed mapping robot is constructed,the frequency range of the robot mapping is defined,the multi-terminal feedback signal processing circuit is designed,and the state vectors of the main and local filters are selected based on the multi-sensor information fusion method,corresponding to the seabed mapping image of the robot. The seafloor navigation model is built with feature recognition technology to describe the position of the seafloor mapping target. The experimental results show that the positioning errors of longitude,latitude and altitude can be controlled within 1.25 m in the process of seabed mapping. The velocity errors in the east,north and sky directions are within 0.8 m/s,which have a good practical application effect.