| AUV自主导航航位推算算法的分析研究 |
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| 引用本文： | 冯子龙,刘健,刘开周.AUV自主导航航位推算算法的分析研究[J].海洋技术,2006,25(3):19-22. |
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| 作者姓名： | 冯子龙 刘健 刘开周 |
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| 作者单位： | 1. 中国科学院研究生院,北京,100039
2. 中国科学院沈阳自动化研究所,辽宁,沈阳,110016 |
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| 摘 要： | 地球形状的不规则性,各种导航传感器本身的误差,以及仪器的安装偏差等,使得AUV(自治水下机器人)在进行远距离自主航行时,自主导航的精度大大下降。针对以上问题及实际工程需要,论文对AUV自主导航的航位推算算法做了进一步研究并加以改进,以提高其自主导航精度。最后,利用2004年中国科学院沈阳自动化所水下机器人研究中心进行AUV湖试所获得的数据,对文中提出的算法进行了验证。结果表明,AUV的自主导航精度得到大大提高,可以用于修正原来的自主导航算法。
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| 关 键 词： | 渐消记忆递推最小二乘滤波 最小二乘辨识 自主导航 AUV |
| 文章编号： | 1003-2029（2006）03-0019-04 |
| 收稿时间： | 2006-01-20 |
| 修稿时间： | 2006年1月20日 |
Research on the Dead Reckoning Method Applied to the Autonomous Navigation of Autonomous Underwater Vehicles |
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| FENG Zi-long,LIU Jian,LIU Kai-zhou.Research on the Dead Reckoning Method Applied to the Autonomous Navigation of Autonomous Underwater Vehicles[J].Ocean Technology,2006,25(3):19-22. |
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| Authors: | FENG Zi-long LIU Jian LIU Kai-zhou |
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| Institution: | Graduate School of the Chinese Academy of Sciences, Beijing, 100039 ,China; Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016,China |
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| Abstract: | When AUV voyages over a long period of time,its navigation precision will be negatively affected by some factors,such as the irregular shape of the earth,the errors of the navigation sensors,and the install deviation of some sensors,such as the gyroscope compass and the Doppler velocity log.Here,the dead reckoning method of autonomous navigation is studied to better the autonomous navigation system according to the problems above.The test result proved that the navigation precision is improved evidently,and can be applied to revise the original method for AUV's autonomous navigation. |
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| Keywords: | recursive least square filtering with fading factor least-square identification autonomous navigation AUV(Autonomous Underwater Vehicle) |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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