Research on Navigation of a Class of Manned Submarine Vehicle
GUO Wei1, LIU Kai-zhou1,2, WANG Xiao-hui1
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
郭威, 刘开周, 王晓辉. 一类载人潜水器的导航技术研究[J]. 机器人, 2005, 27(5): 406-409..
GUO Wei, LIU Kai-zhou, WANG Xiao-hui. Research on Navigation of a Class of Manned Submarine Vehicle. ROBOT, 2005, 27(5): 406-409..
Abstract:The navigation system of a class of manned submarine vehicle(MSV) is introduced at first.Then the information acquisition module based on industrial Ethernet is presented.Because there exist many kinds of unmodeled disturbances in the dynamic model of MSV and errors in the sensors,some filters are needed,such as Kalman filter(KF),etc.At last,the data from KFs is used for navigation system of the MSV.The results of semi-physical simulation platform show that the navigation performance is improved greatly.
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