共查询到20条相似文献，搜索用时 656 毫秒
1.
2.
Currently, most submerged bodies use the long-baseline acoustic position system (LBL) to identify the navigation position for submerging. A precise navigation position is always the target pursued by underwater technology. The conventional long-baseline acoustic position systems normally use Kalman filter correction to handle the problem of positional errors. This article proposes a new modification, which is based on the periodically measured actual navigation distance, and associated with the three-dimensional geometrical relations between the transponder on the seabed and the navigation distance. This new modification employs the iterative approximation to modify the errors of the measured navigation position from the conventional long-baseline acoustic position system. In order to verify the availability of the modified model by the essay, the study uses the navigation position for an underwater surveying submerged body as the study object. After the numerical simulation analysis, the result shows that the modification was presented by the article can only use very few iterations to precisely modify the errors of the measured navigation position from the conventional long-baseline acoustic position system, which is highly applicable for positioning in long-term and long-distance submersion. Moreover, the modification method proposed by the paper can also help submersion positioning for the underwater vehicle, as well as the military submerged body. 相似文献
3.
4.
动态重力仪和惯性导航系统的核心元件都是惯性元件,即陀螺仪和加速度计(重力传感器可以认为是一种特殊的加速度计),因此重力测量与惯性导航具有紧密的联系。从比力测量、物理与数学平台、惯性手段辅助重力测量,以及重力辅助惯性导航等方面分析了重力仪与惯性导航系统的紧密联系。并对惯性导航与重力测量的融合应用进行了分析。 相似文献
5.
The purpose of the current study is to introduce a set of mobile underwater positioning systems (MUPS) that will enable non-offshore vessels to execute underwater missions. Besides mobility, the system would also possess the advantage of having to use fewer acoustic instruments than conventional acoustic positioning systems. The method adopted by the system will involve the use of expendable and multi-functional bathythermographs (XBT) to measure the underwater acoustic speed and the depth of water at the same time. Then it must utilize the geometric relations formed by measuring the position of underwater targets at set intervals during navigation. In addition, since sound does not travel in a straight line when underwater, the iteration and convergence method must be used to perform corrections on the transmission speed and positional errors to obtain an accurate coordinate of the underwater target. After simulation testing, the positioning system established by the current study has proven to be fast in converging the error values along with high positioning accuracy of the system. The results of the study indicate that the MUPS built by the research institute can be utilized on a vessel, and will be very helpful in assisting the management of urgent underwater positioning missions. 相似文献
6.
7.
8.
This chapter describes two separate but complementary research echosounder systems originally developed by Krupp Atlas Elektronik GmbH for the new German oceanographic research vessel Meteor.The Hydrosweep is a Hydrographic wide-swathe sweep survey echosounder for both shallow and deep water applications providing accurate bathymetric surveys and terrain-following navigation capabilities.The Parasound system is a hull-mounted dual channel parametric narrow-beam deep sea survey and sub-bottom profiling echosounder enabling particularly high vertical and horizontal resolution of seabed features. 相似文献
9.
GyungNam Jo Hang S. Choi 《Oceanic Engineering, IEEE Journal of》2006,31(3):565-573
This paper discusses the problems related to constructing a receding horizon filter for underwater inertial navigation systems which are subject to external disturbances. Noises are assumed to be bounded, additive, and contained in both state and measurement equations. An estimator is designed according to the sliding-window strategy to minimize the receding horizon estimation cost function. The derived filter is applied to a velocity-aided inertial navigation system. Simulations show that the derived filter is more accurate than the standard Kalman filter (KF) for underwater navigation systems subject to temporary unknown disturbances 相似文献
10.
11.
12.
13.
Liu Jiaju Zhang Jingchao Prof. Senior Engineer River Harbour Department Nanjing Hydraulic Research Institute Nanjing Senior Engineer River Harbour Department Nanjing Hydralulic Research Institute Nanjing 《中国海洋工程》1992,(2)
- This paper, after briefly reviewing the experimental research on sediment transport on muddy beach since the 1950s, improves and perfects the method for forecasting siltation in navigation channels and harbour basins which was first put forward in China by the authors. In consideration of silty sediment and sand, some factors in forecasting methods have been changed and modified. Consequently, the modified methods can be used either to compute siltation in navigation channels and harbour basins on muddy beach or to compute siltation and scouring in navigation channels and harbour basins on both silty beach and sandy beach. The verification of field data from eleven large, medium and small natural harbours shows a good agreement between the forecasting by the modified method and the natural conditions. Finally, the paper deals with the rational utilization of water area after the construction of the West Dyke in Lianyungang, the maintenance of water depth of the navigation channel at the entrance, siltation distribution, siltation in the navigation channel and harbour basin for ships of 100 thousand tonnnage. Results once again prove that the prospect of constructing Lianyungang Harbour into a deepwater harbour is bright. 相似文献
14.
Unmanned surface vehicles (USVs) are able to accomplish difficult and challenging tasks both in civilian and defence sectors without endangering human lives. Their ability to work round the clock makes them well-suited for matters that demand immediate attention. These issues include but not limited to mines countermeasures, measuring the extent of an oil spill and locating the source of a chemical discharge. A number of USV programmes have emerged in the last decade for a variety of aforementioned purposes. Springer USV is one such research project highlighted in this paper. The intention herein is to report results emanating from data acquired from experiments on the Springer vessel whilst testing its advanced navigation, guidance and control (NGC) subsystems. The algorithms developed for these systems are based on soft-computing methodologies. A novel form of data fusion navigation algorithm has been developed and integrated with a modified optimal controller. Experimental results are presented and analysed for various scenarios including single and multiple waypoints tracking and fixed and time-varying reference bearings. It is demonstrated that the proposed NGC system provides promising results despite the presence of modelling uncertainty and external disturbances. 相似文献
15.
在我国内河水运现代化快速构建时期和我国内河电子航道图发展初期,采用文献计量学、网络资源搜索、行业调查分析等方法,从研究国际内河电子航道图发展现状的基础出发,从成果现状和技术现状阐述中国内河电子航道图的发展现状。从标准发展、生产发展、应用发展、技术发展等方面分析中国内河电子航道图的发展趋势,得出中国内河电子航道图发展面临的困难与机遇,提出发展建议,以推动我国内河水运现代化进程。 相似文献
16.
Fiber strapdown inertial navigation system （FSINS） is presently used in several applications related to marine navigation. However, the absolute position from FSINS contains the error that increases with time, which prevents its long-term use for the ship cruise. In order to improve the performance of FSINS based on our present inertial sensors, the spin technology was proposed in the system to mitigate the navigation errors and a prototype of the proposed system was developed in Navigation Lab. The prototype contains the IMU, temperature controller, rotating configuration, navigation and I/O electronics group, control and display, power supply subsystem and other modules. In the proposed spin technology, the IMU is rotated back and forth in azimuth through four orthogonal positions relative to the ship’s longitudinal axis. Experimental testing was conducted for the prototype in the laboratory and the results showed that the RFSINS’s navigation performance is improved 10 times. 相似文献
17.
通过对珠江口水域海事管理的需求分析,利用航天／航空影像,数字高程数据、海事电子地图数据,以及航政、助航等专题资料,研制开发珠江口水域三维形式的地理信息系统,实现查询、浏览、管理等功能,为海事管理提供方便直观的工作平台。 相似文献
18.
《Ocean Engineering》2007,34(13):1797-1810
Reliable estimation of the on-site sea state parameters is essential to decision support systems for safe navigation of ships. The wave spectrum can be estimated from procedures based on measured ship responses. The paper deals with two procedures—Bayesian Modelling and Parametric Modelling—which both use complex-valued frequency response functions (FRF) to estimate the wave spectrum. It is therefore interesting to investigate how the filtering aspect, introduced by FRF, affects the final outcome of the estimation procedures. In order to do this, extensive numerical simulations—with known wave parameters—are carried out for a large container vessel. The study shows that filtering has an influence on the estimations, since high-frequency components of the wave excitations are not estimated as accurately as lower frequency components. 相似文献
19.
为了解决深海拖曳系统定位异常、不连续以及误差积累的问题,提出了一种联合惯性导航系统(INS)和超短基线定位系统(USBL)的组合定位方法,利用在航声线跟踪实现USBL的高精度定位,顾及INS和USBL系统的互补性,并结合Kalman滤波构建了INS+USBL的组合定位模型。将该组合定位模型应用于"向阳红01"船深海拖曳系统在南海的定位实验并与USBL的定位结果比对,实验表明,组合定位方法有效地解决了深拖系统定位异常且不连续问题。INS+USBL组合定位方法可以满足深海拖曳系统的稳健可靠定位,对于深远海定位具有重要意义。 相似文献
20.
Mironov A. P. Suchilin A. A. Rogozhin E. A. 《Izvestiya Atmospheric and Oceanic Physics》2019,55(10):1517-1525
Izvestiya, Atmospheric and Oceanic Physics - This article presents the results of processing observations of global navigation satellite systems (GNSS) at satellite-geodetic stations located in... 相似文献