| BDS在仿生机器鱼中的应用研究 |
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| 引用本文： | 崔秀芳,石福孝,李培培,陈刚,王宏宇.BDS在仿生机器鱼中的应用研究[J].全球定位系统,2019,44(6):70-74. |
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| 作者姓名： | 崔秀芳 石福孝 李培培 陈刚 王宏宇 |
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| 作者单位： | 上海海洋大学 工程学院,上海 201306 |
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| 摘 要： | 仿生机器鱼作为水下机器人行业的一个重要分支,在探索海洋资源方面发挥着重要作用.本文论述了北斗卫星导航系统(BDS)在仿生机器鱼中的应用,并基于BDS的仿生机器鱼基本定位原理,提出了多导航方式组合技术．对基于BDS的仿生机器鱼机械结构进行了模块化设计,说明了BDS在仿生机器鱼位姿解算以及路径规划技术中的应用,设计并搭建了基于BDS的仿生机器鱼的硬件系统,并在实验室自主设计的仿生机器鱼上实现.
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| 关 键 词： | 北斗卫星导航系统 仿生机器鱼 多导航方式组合技术 应用 |
Study on the application of BDS in bionic robot fish |
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| Institution: | College of Engineering, Ocean University of Shanghai, Shanghai 201306, China |
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| Abstract: | As an important branch of the underwater robot industry, bionic robot fish plays an important role in exploring marine resources. This paper discusses the application of BeiDou Satellite Navigation System (BDS) in bionic robot fish and the basic positioning principle of bionic robot fish based on BDS. A multi-navigation combination technique is proposed. The modular design of bionic robotic fish mechanical structure based on BDS is used to explain the application of BDS in bionic machine fish posture calculation and path planning technology. The hardware system of the system's bionic robot fish is designed and based on BDS realized on the bionic robot fish designed by the laboratory. |
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