共查询到10条相似文献，搜索用时 109 毫秒
1.
This paper reports the development and experimental evaluation of two in situ least squares techniques for estimating the alignment matrix of Doppler sonars commonly used for precision navigation of oceanographic submersibles. Most previously reported methods addressed the problem of single degree-of-freedom heading alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reports and evaluates two techniques for three degree-of-freedom calibration of attitude and Doppler sonar sensors using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least squares estimate of the alignment matrix. The second technique results in a least squares alignment matrix estimate constrained to the group of rotation matrices. The performance of these estimates is evaluated with a laboratory remotely operated vehicle (ROV) and a field-deployed autonomous underwater vehicle (AUV). Experimental results are reported which demonstrate that Doppler navigation employing the reported alignment calibration techniques significantly improves navigation precision. The experiments show that the latter technique provides calibration estimates that improve Doppler navigation precision not only on the calibration data set itself, but also provide improved precision over a wide variety of vehicle trajectories other than the calibration data set. 相似文献
2.
A lumped parameter model of open-frame unmanned underwater vehicles (UUV's) including the effects of propeller-hull and propeller-propeller interactions is presented. The identification of the model parameters consists of a least squares method using only on-board sensor data without requiring any towing tank tests. The identification scheme is based on separate tests for the estimation of drag and thruster installation coefficients, taking into account propeller-hull and propeller-propeller effects first and inertia parameters subsequently. The scheme has been experimentally implemented on ROMEO, the latest UUV developed by CNR-IAN. Experimental results show both the effectiveness of the proposed method and the relevance of the propeller-hull and propeller-propeller interactions that are usually neglected in standard UUV models 相似文献
3.
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
4.
风场和吞吐流是浅水湖泊运动的主要驱动力,影响着湖区污染物的迁移转化。基于二维非结构网格,构建了乌梁素海水动力模型。通过对比定常风作用下湖流的方向、环流的分布及形式与无风条件下的区别,模拟不同算例吞吐流作用下湖区流速及环流结构的差异,探究了定常风和吞吐流对乌梁素海流场的影响。结果表明:乌梁素海在无风条件下出现大面积的滞流区;风场会增加湖流的流速,影响区域主要在西大滩区、东大滩区及湖区南部明水区,产生明显环流,风场是乌梁素海主要的驱动力; SSW与ENE向风场作用下,典型区域产生的环流位置、形态结构相近,方向相反;吞吐流量的增加会增大湖区整体流速,对湖区流场形态、结构影响较小;定常风条件下,吞吐流量的增加(一定范围)会导致环流强度减弱。研究结果为乌梁素海营养盐、污染物质输移规律研究奠定基础。 相似文献
5.
It is shown that by implementing certain mine avoidance techniques, an underwater vehicle equipped with an obstacle avoidance sonar (OAS) and a navigation system can safely navigate an unknown minefield. The mine avoidance techniques take into account the physical limitations of the sonar and the navigation system, the maneuverability constraints on the underwater vehicle, and the required safe standoff distance from all mines. Extensive computer simulations have verified the mine avoidance capability in more than 50 different minefields. In all 50 simulations the vehicle reached a predetermined end point and maintained at least the specified, minimum safe standoff distance from each mine. The simulation accurately models the major difficulties associated with the sonar, the navigation system, and the vehicle dynamics. The sonar model includes surface, bottom, and volume reverberation; thermal, ambient, and flow noises; actual receiver and projector beam patterns; and false alarms and missed detections. The navigation system model contains the effects of biases, random noises, and scale factor errors. The vehicle dynamic model simulates angular velocities and accelerations associated with underwater vehicles 相似文献
6.
Intelligent behaviour-based team UUVs cooperation and navigation in a water flow environment 总被引：1，自引：0，他引：1
This paper considers the problem of intelligent behaviour-based team unmanned underwater vehicles (UUVs) cooperation and navigation, especially in a water flow environment. Animals often have behaviour which aims to maintain them living as groups. We learn from animals’ typical group behaviour and develop behaviour-based rules for team cooperation of UUVs. We create simulation scenarios in which a team of vehicles cooperate to track a target in a water current environment. This paper customises several behaviour-based rules to satisfy the requirement of the desired scenarios. We use fuzzy logic controllers to set different priority weights for each rule on-line according to the situation that the vehicles meet. The decision of the vehicle's next step steering direction is made by the combination of these rules multiplied by the relative priority weights. The line-of-sight guidance law is modified as the navigation rule in a water flow environment. The dynamic manoeuvring model of a real small UUV, SUBZERO III, is used in the simulation. The simulation results indicate that the entire system is successful in reaching the target without any collision within the scenario. The different trajectories and travel times are compared and discussed when normal and modified line-of-sight guidance rules are applied. 相似文献
7.
在航道治理工程中,往往通过丁坝群来实现其稳定航槽等目的,而坝田作为缓流区,其与主槽的水沙交换主要取决于横向的紊动交换。基于长江口北槽丁坝群实测资料分析和物理模型水槽试验研究发现不同长宽比坝田内的流态、淤积形态、坝田与相邻河段水沙交换的机理均不同,在长江口北槽丁坝群坝田建成后的淤积初期阶段,长宽比为0.30～0.40的坝田内的平均淤积强度最大。水槽试验研究表明,长宽比为0.50的坝田内淤积的主要部位即为主环流所在位置(坝田外侧),而在副环流位置,则出现微淤或冲刷的趋势;而长宽比为0.33的坝田内的淤积分布相对比较均匀。长宽比为0.33的坝田内淤积速率明显大于长宽比为0.50的坝田,长宽比为0.33的坝田达到冲淤平衡的时间较长。坝田淤积强度与随坝田回流强度、坝田与主槽水沙交换系数的增加而增加。 相似文献
8.
On predicting boat drift for search and rescue 总被引：1，自引：0，他引：1
A theoretical model for predicting boat drift for search and rescue missions is presented in this work. The drift model is based on the law of physics which govern the motion of a floating body in a given wind and surface current field. In terms of the empirical aerodynamics force coefficients of the boat or any other drifting object, external wind field, and current field, the drift velocity of the boat being searched for can be obtained. The uncertainty of the characteristics of the boat’s drift is evaluated by interval analysis of the uncertainties of the characteristics of the drifting boat and external forcing fields. The search area expansion and the source of uncertainty are systematically evaluated. The current statistical model-based operational definitions of leeway drift, leeway rate, leeway angle, divergence angle, leeway divergence, downwind component of leeway, and crosswind component of leeway are clarified in light of the presented theoretical model. The divergence angle and leeway divergence are evaluated through the interval analysis of the uncertainty of the parameters involved. 相似文献
9.
Adjustments to satellite constrained navigation are required to match SeaBeam bathymetric data at track crossings due to errors in dead reckoning and inaccuracies in satellite fixes. By shifting one of the SeaBeam swaths involved in a track crossing relative to the other and calculating the sum of the squares of the differences in bathymetry within the area of overlapping coverage, we map a two-dimensional error surface whose minimum corresponds to the best estimate of the correction to navigation required at the crossing point. Estimates of the covariance of this correction are derived from the error surface. We employ the curve fitting technique of Tarantola and Valette (1982) to invert for a smooth correction function to a starting model of the position of the ship as a function of time. This technique incorporates formal errors assigned to dead reckoning, satellite fixes, and the shifts required to match bathymetric swaths at crossing points in a simultaneous inversion for the correction function for all tracks within the study area.In a test of the method in a study area on the southern Mid-Atlantic Ridge, a data set involving two cruises, 30 days of SeaBeam data, and 753 track crossings, we found that crossing SeaBeam swaths can potentially resolve the relative position of the ship on the two tracks to within 30 to 70 m. The inversion procedure yielded a much better constrained navigation function and much improved match of bathymetry. The final model of the navigation fit crossing shifts about as well as satellite data (with respect to their assigned data errors) with the RMS value of the crossing shifts decreasing from 1200 m in the original satellite-constrained navigation to 200 m in the final solution. However, the potential resolution of position using SeaBeam swaths was not fully achieved in the solution because there are systematic bathymetric artifacts in SeaBeam data, multiple local minima in the error surfaces in highly lineated topography, inadequate dead reckoning data, occasional bad satellite fixes, and limitations on the short period corrections allowed in the model. 相似文献
10.
根据1978—2015年渤、黄海沿岸观测风应力场与二维非线性垂直平均风生流模式，以及旋转经验正交函数（REOF）、调和分析等方法，研究了渤、黄海月平均风生流速度势、流函数场季节循环时空模态与年际变异.渤、黄海月平均风生流速度势、流函数场主要有两种时空模态，季节周期分量是时空模态的主要分量.由于风应力场季节循环变异，渤海流函数场季节时空循环变异程度大于速度势场，速度势、流函数场第二模态是季节变异的主要分量，黄海速度势场季节时空循环变异程度大于流函数场，速度势场第二模态是季节变异的主要分量.由于月平均风应力场强度年际变化显著线性减弱，渤、黄海季节平均风生流场强度年际变化也显著减弱.渤、黄海暖流与冷水团季节生消是风生流水平环流与垂直对流对冷 暖水体输送与汇集共同作用的结果，渤、黄海春、夏季辐合上升环流延缓及减弱了浅层暖水向深层传播，是春、夏季冷水团与温跃层形成的重要动力因素，因此，速度势是研究渤、黄海风生流场十分重要的因素.冬季渤海中部、黄海东部反气旋型及辐散下沉环流与黄海中部气旋型环流、辐合上升环流是黄海暖流季节转换与强度的主要动力控制因素，夏季黄海东部气旋型环流、辐合上升环流与黄海中部反气旋型环流、辐散下沉环流是黄海冷水团季节转换与强度的主要动力控制因素. 相似文献