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.
[1] 郭威,王晓辉,肖琼林,等.载人潜水器数据采集与监控系统[J]. 仪器仪表学报(增刊),2004,25(4):212-213. [2] 邢志伟.复杂海洋环境下水下机器人控制问题研究[D]. 北京:中国科学院研究生院,2003. [3] Liu K Z, Wang X H, Feng X S. The design and development of simulator system-for manned submersible vehicle[A]. Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics[C]. Shenyang,China:IEEE, 2004. 294-299. [4] 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]. 机器人,2005,27(2):168-172. [5] 邓自立.自校正滤波理论及其应用[M]. 哈尔滨:哈尔滨工业大学出版社,2003.
