GPS/Dead-reckoning navigation system for autonomous underwater vehicle (AUV) is introduced, which includes navigation overall architecture, hardware and software structure. Dead-reckoning theory is presented in detail...GPS/Dead-reckoning navigation system for autonomous underwater vehicle (AUV) is introduced, which includes navigation overall architecture, hardware and software structure. Dead-reckoning theory is presented in details. And the strong tracking Kalman filter and Singer model are applied to handle the imprecise navigation mode, which can improve the navigation system’s precision and reliability. Finally, the sea experiments which include autonomous search mission in an unknown area and long distance motion are conducted to demonstrate the reliability and feasibility of the navigation system.展开更多
In this paper, the bit synchronization algorithms in GNSS receiver are introduced, including the traditional histogram method, K-P algorithm and Viterbi algorithm. The FPGA implementation is also included. A novel tim...In this paper, the bit synchronization algorithms in GNSS receiver are introduced, including the traditional histogram method, K-P algorithm and Viterbi algorithm. The FPGA implementation is also included. A novel time division multiplexing technology （TDM） based on multi-channel shared synchronizer is proposed in this paper to solve the constrained hardware resource problem of multi-system satellite navigation receiver. Through the using of control state machine and data register structure, we realize the multiplexing of bit synchronizer of navigation receiver, which saves the hardware resource. After the experiment, it can be verified that the receiver based on the bit synchronization and multiplexing technology can correctly restore the navigation information.展开更多
Traditional sensor network and robot navigation are based on the map of detecting the fields available in advance. The optimal algorithms are developed to solve the energy saving, the shortest path problems, etc. Howe...Traditional sensor network and robot navigation are based on the map of detecting the fields available in advance. The optimal algorithms are developed to solve the energy saving, the shortest path problems, etc. However, in the practical enviroranent, there are many fields, whose map is difficult to get, and needs to be detected. In this paper a kind of ad-hoc navigation algorithm is explored, which is based on the hybrid sensor network without the prior map in advance. The navigation system is composed of static nodes and dynamic trades. The static nodes monitor the occurrances of the events and broadcast them. In the syston, a kind of algorithm is to locate the rdbot, which is based on duster broadcasting. The dynamic nodes detect the adversary or dangerous fields and broadcast warning messages. The robot gets the message and follows ad-hoc routine to arrive where the events occur. In the whole process, energy saving has been taken into account. The algorithms, which are based on the hybrid sensor network, are given in this paper. The simulation and practical results are also available.展开更多
文摘GPS/Dead-reckoning navigation system for autonomous underwater vehicle (AUV) is introduced, which includes navigation overall architecture, hardware and software structure. Dead-reckoning theory is presented in details. And the strong tracking Kalman filter and Singer model are applied to handle the imprecise navigation mode, which can improve the navigation system’s precision and reliability. Finally, the sea experiments which include autonomous search mission in an unknown area and long distance motion are conducted to demonstrate the reliability and feasibility of the navigation system.
基金the National Natural Science Foundation of China under Grant，the China Postdoctoral Science Foundation under Grant No.2013M530526，the Fundamental Research Funds for the Central Universities under Grant No.FRF-TP-14-046A2
文摘In this paper, the bit synchronization algorithms in GNSS receiver are introduced, including the traditional histogram method, K-P algorithm and Viterbi algorithm. The FPGA implementation is also included. A novel time division multiplexing technology （TDM） based on multi-channel shared synchronizer is proposed in this paper to solve the constrained hardware resource problem of multi-system satellite navigation receiver. Through the using of control state machine and data register structure, we realize the multiplexing of bit synchronizer of navigation receiver, which saves the hardware resource. After the experiment, it can be verified that the receiver based on the bit synchronization and multiplexing technology can correctly restore the navigation information.
基金supported by the National nature Science Fund(No.50875247)
文摘Traditional sensor network and robot navigation are based on the map of detecting the fields available in advance. The optimal algorithms are developed to solve the energy saving, the shortest path problems, etc. However, in the practical enviroranent, there are many fields, whose map is difficult to get, and needs to be detected. In this paper a kind of ad-hoc navigation algorithm is explored, which is based on the hybrid sensor network without the prior map in advance. The navigation system is composed of static nodes and dynamic trades. The static nodes monitor the occurrances of the events and broadcast them. In the syston, a kind of algorithm is to locate the rdbot, which is based on duster broadcasting. The dynamic nodes detect the adversary or dangerous fields and broadcast warning messages. The robot gets the message and follows ad-hoc routine to arrive where the events occur. In the whole process, energy saving has been taken into account. The algorithms, which are based on the hybrid sensor network, are given in this paper. The simulation and practical results are also available.
