| 自治/遥控水下机器人北极冰下导航 |
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| 引用本文： | 李硕,曾俊宝,王越超.自治/遥控水下机器人北极冰下导航[J].机器人,2011,33(4). |
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| 作者姓名： | 李硕 曾俊宝 王越超 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049
2. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁,沈阳,110016 |
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| 基金项目： | 国家863计划资助项目(2007AA09Z122) |
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| 摘 要： | 针对北极高纬度和科学考察中长期冰站对海冰在一定范围内连续重复观测的需求,设计了面向冰下环境的自治/遥控水下机器人(北极ARV)导航定位系统.提出基于海冰运动修正的水下机器人自主导航方法,通过定时引入海冰运动信息,实时准确获取水下机器人相对于海冰的位置信息,这不仅提高了观测数据的实际应用价值,还提高了冰下作业的安全性.仿真试验和北极冰下应用证明这一导航系统具有精度高、稳定性好等优点.
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| 关 键 词： | 水下机器人 自治/遥控水下机器人 冰下导航 海冰运动修正 |
Navigation Under the Arctic Ice by Autonomous & Remotely Operated Underwater Vehicle |
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| LI Shuo,ZENG Junbao,WANG Yuechao.Navigation Under the Arctic Ice by Autonomous & Remotely Operated Underwater Vehicle[J].Robot,2011,33(4). |
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| Authors: | LI Shuo ZENG Junbao WANG Yuechao |
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| Affiliation: | LI Shuo~(1,2),ZENG Junbao~1,WANG Yuechao~1 (1.State Key Laboratory of Robotics,Shenyang Institute of Automation.China Academy of Sciences,Shenyang 110016,China,2.Graduate School of the Chinese Academy of Sciences,Beijing 110049,China) |
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| Abstract: | Aimed at the environment of the high latitude and the demand of repeat certain range observation by long-term ice station in Arctic science exploration,a navigation and positioning system of autonomous & remotely operated underwater vehicle(namedArctic ARV) is developed for the environment under sea ice.An independent navigation method is put forward based on the correction of the sea ice motion.The real-time accurate position relative to the sea ice is obtained by compensating the information of the sea ic... |
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| Keywords: | UUV autonomous & remotely operated underwater vehicle navigation under the ice compensation based on the sea ice motion |
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