| 水下自主导航系统算法设计 |
| |
| 引用本文： | 马晓峰,杜刚,战兴群,翟传润.水下自主导航系统算法设计[J].测控技术,2012,31(3):68-72. |
| |
| 作者姓名： | 马晓峰 杜刚 战兴群 翟传润 |
| |
| 作者单位： | 上海交通大学 航空航天学院;上海交通大学 航空航天学院;上海交通大学 航空航天学院;上海交通大学 航空航天学院 |
| |
| 摘 要： | 基于微小型水下机器人的导航需求，结合水下机器人应用环境的特点，在既定的元器件与处理芯片基础上，提出了水下组合导航算法的设计原则，选取合适的状态量和量测量，建立状态方程与量测方程，建立一套集中式Kalman滤波导航系统算法。算法保证导航系统能够满足长航时下高精度需求，具有较高的抗干扰能力，同时充分利用现有的各项传感器输出信息，保证系统的稳定性。并用实验小车进行陆上实验，验证算法的正确性。
|
| 关 键 词： | 水下组合导航系统 Kalman滤波器 误差建模 设计原则 |
The Algorithm Design in the Underwater Autonomous Navigation System |
| |
| MA Xiao-feng,DU Gang,ZHAN Xing-qun,ZHAI Chuan-run.The Algorithm Design in the Underwater Autonomous Navigation System[J].Measurement & Control Technology,2012,31(3):68-72. |
| |
| Authors: | MA Xiao-feng DU Gang ZHAN Xing-qun ZHAI Chuan-run |
| |
| Affiliation: | (School of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai 200240,China) |
| |
| Abstract: | An algorithm based on the special requirement of the autonomous underwater vehicle(AUV) navigation system is designed.The center processor unit and inertial measurement unit are selected.The principle of designing the Kalman filter is put forward.Choosing appropriate estimates and measurements,building up the equation of estimate and measurements,the centralized Kalman filter is designed.The algorithm make sure the navigation system is stable in a long time run and make full use of all the sensors’ information.The experiment which is to verify the algorithm is also be done. |
| |
| Keywords: | underwater integrated navigation system Kalman filter error model design principles |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《测控技术》浏览原始摘要信息 |
|
点击此处可从《测控技术》下载全文 |
