| 20kg级便携式自主水下机器人(AUV)设计与实现 |
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| 引用本文： | 王芬清,何波,张洪进.20kg级便携式自主水下机器人(AUV)设计与实现[J].中国海洋大学学报(自然科学版),2011(Z2):183-188. |
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| 作者姓名： | 王芬清 何波 张洪进 |
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| 作者单位： | 中国海洋大学信息科学与工程学院; |
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| 基金项目： | 山东省科技攻关项目(2008GG1005011); 山东生博士基金项目(BS2009HZ006); 青岛市科技计划项目(10-3-4-1-3-jch)资助 |
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| 摘 要： | 便携式AUV具有结构紧凑、机动性好、制造和使用成本低等优点,本文设计AUV的底层控制系统和自主导航系统,并进行仿真验证和人工湖试验,结果证明底层控制系统具有很好的鲁棒性,基于AHRS、数字罗盘和GPS的惯性导航算法能够通过浅水节点潜航方式实现AUV自主导航。
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| 关 键 词： | 便携式AUV 底层控制系统 惯性导航 AHRS |
Design and Implementation of 20 Kilograms Portable Autonomous Underwater Vehicle(AUV) |
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| WANG Fen-Qing,HE Bo,ZHANG Hong-Jin.Design and Implementation of 20 Kilograms Portable Autonomous Underwater Vehicle(AUV)[J].Periodical of Ocean University of China,2011(Z2):183-188. |
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| Authors: | WANG Fen-Qing HE Bo ZHANG Hong-Jin |
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| Institution: | WANG Fen-Qing,HE Bo,ZHANG Hong-Jin(College of Information Science and Engineering,Ocean University of China,Qingdao 266100,China) |
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| Abstract: | Portable AUV has the advantages of compact architecture,perfect mobility and low cost,this paper designs the low level control system and navigation system,and carries out simulation and artificial lake experiment,the results verify that the low level control system is robust and based on AHRS,digital compass and GPS,AUV can realize autonomous navigation by means of node-submerge in shallow water. |
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| Keywords: | portable AUV low-level control system inertial navigation system AHRS |
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