基于DGPS无人潜航器避碰声纳的试验研究  

The Obstacle Avoidance Sonar of AUV Experimentation Based on the DGPS

作　　者：严浙平[1] 曲镜圆 程相勤[1] 张伟[1] 徐健[1] 

机构地区：[1]哈尔滨工程大学自动化学院．哈尔滨150001

出　　处：《传感技术学报》2009年第1期75-79,共5页Chinese Journal of Sensors and Actuators

基　　金：黑龙江省博士后启动金资助(LH-04010)“基于AGENT的多UUV协同作业的智能控制技术研究”

摘　　要：提出一种利用双频RTK的DGPS来估算船只与障碍物距离的方法,并采用基于HIMM数字滤波算法获取声纳系统探测障碍物的距离信息,对比距离信息可验证声纳系统探测的有效性。利用水面船只模拟无人潜航器安装声纳系统进行了避碰功能模拟试验,结果表明改进的HIMM滤波算法可有效降低环境背景噪声影响,提高了声纳测量信息的可信度,所提出的试验方法很好地解决了声纳避碰系统的前期功能试验困难,可大大降低直接利用无人潜航器进行试验的成本和风险。A method is designed to estimate the distance between the ship and obstacle based on DGPS（Differential Global Position System）. Digital filter based on HIMM（Histogrammic in Motion Mapping） is proposed to get the distance from Sonar system at the same time. Comparing with the two distances can prove the validity of detecting information by the Sonar system. Simulation of the AUV（Autonomous Underwater Vehicles） avoidance behavior is done by the sonar system installed on the ship. Finally the test results showed that HIMM filter could effectively reduce the background noise and enhance the credibility of the sonar information. The method has solved the difficulties of sonar avoidance system in pre-test and reduced the cost and risk while directly using an AUV.

关 键 词：DGPS 无人潜航器 避碰声纳 模拟试验 

分 类 号：U666.7[交通运输工程—船舶及航道工程]