海洋机器人动态定位的坐标变换与系统结构
COORDINATE TRANSFORMATION AND SYSTEM STRUCTURE OF DYNAMIC POSITIONING OF MARINE ROBOT
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摘要: 本文给出海洋机器人的原理性流体动力学模型.动态定位的基本定义,海洋机器人既定向又定位的坐标变换与系统结构,和只定位不定向的坐标变换与系统结构.Abstract: This paper presents for underwater robot a theoretical hydrodynamic model, and some basic definitions of dynamic positioning, coordinate transformation and system structure for positionings with and without orientation.