用固定单信标修正水下机器人导航误差

针对固定单信标情况下水下机器人纯距离导航非线性系统的能观性和稳定性,给出了理论分析和证明.在导航系统稳定性分析基础上,提出一种保证滤波器渐近稳定的新方法,并提出固定单信标情况下的保证导航系统能观的机器人机动方案和路径.最后,仿真实验结果表明了该方法的有效性.

Navigation error amendment for underwater robot using single beacon

Both observability and stability of a range-only navigation system of underwater robot based on single stationary
beacon are analyzed and proved. A new method is presented, which keeps the navigation filter asymptotically stable. The mmobile plan and trajectory guaranteeing navigation system observable are also presented under the condition of single beacon. The simulation results show the effectiveness of this method.