共查询到19条相似文献，搜索用时 390 毫秒
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基于罗经/DVL/水声定位系统的水下组合导航方法研究 总被引：1，自引：0，他引：1
针对基于罗经/DVL航位推算系统位置误差积累的问题,研究基于罗经/DVL/水声定位系统的水下运载体组合导航定位方法,设计了组合导航方案,建立了基于航位推算系统的误差方程,在此基础上引入水声定位系统的位置量测信息,设计了卡尔曼滤波器,实现了罗经/DVL/水声定位系统的信息融合。最后对研究的方法进行了计算机仿真和半物理仿真实验。实验结果表明,该方法抑制了航位推算系统位置误差发散,且减小了水声定位数据波动幅度,实现了水下运载体的高精度导航定位。 相似文献
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文中关注水下潜航器导航定位时,电磁波传播途径中能量衰减、惯导系统长航时积累误差以及提高水下潜航器定位精度等问题。基于倒置的超短基线声学基阵,分析声波往返传播时间(RTT)、平面波近似方法和USBL导航解算方法及其坐标转换过程,结合INS误差方程,建立INS/USBL松组合模型。为进一步提高系统精度、动态性能和抗干扰性,考察USBL的原始斜距、斜距差以及声学基阵的空间分布信息,提出基于USBL原始输出信息的INS/USBL紧耦合组合导航方法。通过MATLAB仿真对导航算法进行验证,结果表明两种算法能充分抑制纯惯导误差随时间积累问题,且有效地估计出姿态、速度和位置误差角;其中紧耦合方法状态估计误差最小,导航参数精度相对松组合提高30%以上,对于提高水下载体导航定位精度、海洋探测具有重大意义。 相似文献
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吕志刚 《数字海洋与水下攻防》2022,5(6):546-552
水下组合导航是 UUV 完成长航时水下自主航行和任务的技术保障和基础,而基于 INS/DVL/GPS 的组合导航是当前 UUV 的主流组合导航方式,可解决导航误差随时间积累的难题,满足 UUV 长航时水下航行的要求。介绍了水下组合导航系统的结构和组成以及关键技术,并详细论述了初始对准算法、纯惯性解算算法、组合导航算法、DVL 标定算法和校准算法。 相似文献
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基于矢量重力测量数学模型，仿真了一段5000S的飞行过程，模拟了其SINS／GPS数据。详细描述了捷联惯性导航系统(SINS)中加速度计和陀螺数据仿真的方法，并给出了求解扰动重力的算法。仿真结果显示卡尔曼滤波器能有效地抑制误差积累。仿真的SINS／GPS数据可用于航空矢量重力测量的算法研究。 相似文献
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通过对单点系泊潜标进行动力学分析,利用集中质量法建立系统的动力学模型,编制Matlab仿真程序,通过数值模拟获取不同海流条件下,分析潜标系统的姿态。文中将一个典型潜标系统的浮球、锚链、重力锚等部件,利用集中质量法简化为节点,通过模拟真实环境中的海流流速在垂直方向的分布,设计1～5 m/s的流速剖面分布。将节点的物理参数和海流参数代入仿真程序中,得到各节点的姿态、节点间张力以及重力锚与海底摩擦力等数据。分析仿真结果,海流流速与节点的偏降、节点间的张力以及重力锚与海底的摩擦力成正比,仿真结果与实际情况相符。文中设计的建模方法和仿真程序可以为单点系泊潜标的总体设计、姿态估算、锚系配置提供工程参考。 相似文献
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国防科学技术大学研制成功了我国首套具有自主知识产权的捷联式航空重力测量系统SGA-WZ01。该重力测量系统由捷联式惯性导航系统(SINS)和差分全球定位系统(DGPS)组成。2012年4~5月,在南海某海域进行了飞行试验以测试这一新型重力仪的精度。描述了该系统的构成和数据处理过程,在数据处理中应用了全球重力场模型对重力测量结果进行校正。试验结果表明,该系统不仅可用于重力标量测量,还可用于矢量测量。重复测线的数据表明了该系统测得的重力异常的重复性可达到1.5m Gal,经过全球重力场模型校正之后北向分量的重复性为7.46m Gal,东向分量的重复性为4.46m Gal。 相似文献
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Yun X. Bachmann E.R. McGhee R.B. Whalen R.H. Roberts R.L. Knapp R.G. Healey A.J. Zyda M.J. 《Oceanic Engineering, IEEE Journal of》1999,24(3):396-404
A Small Autonomous Underwater Vehicle Navigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated Global Positioning System/Inertial Navigation System (GPS/INS) navigation system composed of low-cost and small-size components. It is designed to demonstrate the feasibility of using a low-cost strap-down inertial measurement unit (IMU) to navigate between intermittent GPS fixes. The present hardware consists of a GPS/DGPS receiver, IMU, compass, water speed sensor, water depth sensor, and a data processing computer. The software is based on a 12-state complementary filter that combines measurement data from all sensors to derive a vehicle position/orientation estimate. This paper describes hardware and software design and testing results of the SANS. It is shown that results from tilt table testing and bench testing provide an effective means for tuning filter gains. Ground vehicle testing verifies the overall functioning of the SANS and exhibits an encouraging degree of accuracy 相似文献
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Abstract The Canadian program for obtaining hydrographic data by aerial methods consists of merging laser bathymeter data with photogrammetric depth data. The main deficiency of the photogrammetric approach for bathymetric measurements is that incomplete stereomodels can occur in areas where little or no land appears. This problem is overcome by using an inertial navigation system (INS) hardmounted to the aerial camera to provide the orientation parameters of position and attitude for each photograph. In order to meet the high accuracy requirement, the INS and other complementary navigation data are processed through a post‐mission track recovery software package. The photogrammetric depths are improved further by merging them with the waterline height information and the laser bathymeter depths using a least‐squares adjustment algorithm. The photogrammetric compilation, depth measurements, shoreline plots, and laser bathymeter integration is done in an analytical stereoplotter. This instrument provides an on‐line refraction correction necessary because of the two‐media mode of operation. Results of a recent pilot project indicate that the integrated system is capable of obtaining depth measurements that agree with echo sounder depth measurements to a precision of .65 m (RMS), and that it can position measured depths to a precision of .74 m (RMS) relative to local control. 相似文献
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基于WebGIS技术开发浮标综合管理平台系统的研究 总被引：1，自引：0，他引：1
根据浮标综合管理平台系统建设的实际情况,从需求分析、系统结构设计、数据建模以及实现技术等几个方面,详细介绍了基于WebGIS技术开发接收浮标数据、存储浮标数据、多媒体查询及展示浮标数据的综合管理平台系统。在建设过程中,采用浮标数据中心数据库、GIS信息数据库、浮标数据展示3个组成部分进行系统软件设计,提高了系统的可维护性。采用关系型数据库来进行数据的存取,解决了各种浮标格式不统一的问题,使查询变得更为方便;利用OPENLAYER+GEOSERVER+ORACLE/MYSQL来开发WebGIS,实现了电子海图的漫游、数据查询以及数据统计结果输出;通过这个平台系统,可以自动化、多功能、大容量、形象化地展示及查询浮标的各种数据。 相似文献
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This paper presents the design and development of an enhanced inertial navigation system that is to be integrated into the Morpheus autonomous underwater vehicle at Florida Atlantic University. The inertial measurement unit is based on the off-the-shelf Honeywell HG1700-AG25 3-axis ring-laser gyros and three-axis accelerometers and is aided with ground speed measurements obtained using an RDI Doppler-velocity-log sonar. An extended Kalman filter has been developed, which fuses together asynchronously the inertial and Doppler data, as well as the differential Global Positioning System positional fixes whenever they are available. A complementary filter was implemented to provide a much smoother and stable attitude estimate. Thus far, preliminary study has been made on characterizing the inertial navigation system-based navigation system performance, and the corresponding results and analyzes are provided 相似文献
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To establish viable earthquake counterplans for ports in Korea, data regarding earthquake motion on the ground and in buildings must be collected using acceleration monitoring systems. Acceleration monitoring-based strategies for port facilities are useful not only for ensuring rapid responses during and after earthquakes but also for regional data collection to assist reliable seismic design. Acceleration monitoring systems were installed at coastal facility sites in target ports, including a soil site to represent the facility and a rock site as a reference. The systematic earthquake alert software was designed to help them in decision-making about a possible seismic hazard and its reporting. The earthquake alert system was composed of two sequential functional software systems sharing an acceleration monitoring database applied to the target ports. The earthquake response software system triggers an alarm based on the peak ground acceleration per second computed from the monitored data. Then, the earthquake hazard estimation software system evaluates possible earthquake-induced site-specific geotechnical hazards linked to the peak ground acceleration. The integrated system was successfully operated and was able to rapidly provide an emergency report containing event records and geotechnical earthquake hazards during the September 2016 Gyeongju earthquake, the largest recorded earthquake in Korea. 相似文献
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Maneuvering modeling and simulation of AUV dynamic systems with Euler-Rodriguez quaternion method 总被引：1，自引：0，他引：1
The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles (AUVs) at the preliminary design stages in advance. The AUVs simulation systems based on the standard submarine equations of motion in six-degree-of-freedom (6-DOF) integrated with the Euler-Rodriguez quaternion method for representing singularity-free AUV attitude and time-saving calculation, and with a nonlinear control model for maneuvering and depth control simulations, time-marching in the fourth-order Runge-Kutta scheme. For validation of the simulation codes, results of the ISiMI AUV open-loop tests including turning test and zigzag test as well as an AUV simulator on the basis of Euler-angle method were used to compare with the quaternion-based AUV simulator. The computational results from the proposed simulator agree well with those from both the ISiMI AUV experiments and the Euler-angle based simulations. Additionally, a new maneuvering procedure, namely "put-out" was implemented to test directional stability for a large-scale AUV in the proposed AUV simulator that can be considered for vehicles in space as well as in constrained planes. 相似文献