An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles. Aiming at the special requirements of underwater vehicles and 3D enviromnent, the algorithm consists of two steps ： the ...An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles. Aiming at the special requirements of underwater vehicles and 3D enviromnent, the algorithm consists of two steps ： the generation of spatial path and the processing of some constraints. A path for underwater vehicles is planned, which satisfies the velocity constraint and the centripetal acceleration constraint of underwater vehicles. The proposed path planning method can be used for the vehicle＇ s locomotion and navigation control.展开更多
Calibration of magnetometer is an essential part to obtain high measurement precision.However,the existing calibration methods are basically the calibration of all attitudes,which means tough work when the magnetomete...Calibration of magnetometer is an essential part to obtain high measurement precision.However,the existing calibration methods are basically the calibration of all attitudes,which means tough work when the magnetometer is applied in strapdown inertial navigation system(SINS).So a quick,easy and effective calibration algorithm is developed based on the ellipsoid constraint to calibrate magnetometers.In this paper,the measuring principle and error characteristic of the magnetometer are analysed to study its magnetic interference.During the process,a magnetometer calibration model is set up to convert the calibration to ellipsoid fitting based on the characteristic of hard magnetic interference and soft magnetic interference.Then the algorithm is tested by mimic experiment.The result shows that measurement precision is improved after the calibration,and then the magnetometer is installed in a control cabin of an underwater robot which is designed and developed by us,and actual magnetometer calibration experiments are conducted to further verify the validity of the algorithm.展开更多
基金Supported by the National High Technology Research and Development Programme of China（No. 2006AAllZ225） and the National Natural Science Foundation of China （No. 60605026, 60635010）.
文摘An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles. Aiming at the special requirements of underwater vehicles and 3D enviromnent, the algorithm consists of two steps ： the generation of spatial path and the processing of some constraints. A path for underwater vehicles is planned, which satisfies the velocity constraint and the centripetal acceleration constraint of underwater vehicles. The proposed path planning method can be used for the vehicle＇ s locomotion and navigation control.
基金Supported by the National High Technology Research and Development Programme of China(No.2011AA04201)
文摘Calibration of magnetometer is an essential part to obtain high measurement precision.However,the existing calibration methods are basically the calibration of all attitudes,which means tough work when the magnetometer is applied in strapdown inertial navigation system(SINS).So a quick,easy and effective calibration algorithm is developed based on the ellipsoid constraint to calibrate magnetometers.In this paper,the measuring principle and error characteristic of the magnetometer are analysed to study its magnetic interference.During the process,a magnetometer calibration model is set up to convert the calibration to ellipsoid fitting based on the characteristic of hard magnetic interference and soft magnetic interference.Then the algorithm is tested by mimic experiment.The result shows that measurement precision is improved after the calibration,and then the magnetometer is installed in a control cabin of an underwater robot which is designed and developed by us,and actual magnetometer calibration experiments are conducted to further verify the validity of the algorithm.
