认为水下运动载体的重力辅助惯性导航系统中,其重力数据采集系统为满足导航的需要,必须对重力数据进行实时补偿修正.分析了水下重力测量系统的各种干扰源及其信号特征.在没有高精度导航定位手段(如GPS)的情况下,研究并提出直接利用惯性...认为水下运动载体的重力辅助惯性导航系统中,其重力数据采集系统为满足导航的需要,必须对重力数据进行实时补偿修正.分析了水下重力测量系统的各种干扰源及其信号特征.在没有高精度导航定位手段(如GPS)的情况下,研究并提出直接利用惯性导航系统的输出数据对水平加速度和E tv s等外部干扰进行修正的方法.展开更多
Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was pr...Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.展开更多
基金Supported by the National High Technology and Development Program Foundation of China under Grant No. 2002AA420090.
文摘Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.
