一类载人潜水器的导航技术研究

Research on Navigation of a Class of Manned Submarine Vehicle

  • 摘要: 介绍了一类载人潜水器导航系统的组成,接着阐述了基于工业以太网的信息采集模块.由于载人潜水器动力学模型存在未建模扰动以及各种传感器存在不同程度的误差,需要采用卡尔曼滤波器(KF)等方法进行数据滤波,最后将滤波后的数据用于该类载人潜水器的导航研究.半物理仿真平台结果表明,载人潜水器的导航精度得到了大幅度提高.

     

    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.

     

/

返回文章
返回