超小型水下机器人智能定位系统  

Intelligent localization-system for subminiature underwater-vehicle

作　　者：高延增[1] 叶家玮[1] 陈远明[1] 梁富琳[1] 

机构地区：[1]华南理工大学船舶与海洋工程系,广东广州510641

出　　处：《控制理论与应用》2010年第9期1140-1144,共5页Control Theory & Applications

摘　　要：提出一种新的超小型水下机器人智能定位系统.融合短基线定位声纳、电子罗盘、X/Y倾角传感器和深度传感器组成超小型水下机器人定位的硬件系统,使用基于构件的方法开发了针对超小型水下机器人定位系统的水上控制计算机三维虚拟显示软件.使用马尔可夫自定位算法在实测定位声纳信号的间隙推算水下机器人的位置,提高定位速度,使其与姿态传感器同步.设计了定位算法有效性的测试实验,结果证明算法有效.A new intelligent localization system is developed for the subminiature-underwater-vehicle（SUV）. In this system, we combine the short-base-line（SBL） localization sonar, the electronic compass, the X/Y angle-sensor and the depth sensor to make up the hardware architecture for the SUV localization system; and develop the component-based 3D virtual display software system for the land-based positioning computer. In the time-interval between SBL signal- measurements, the Markovian-self-localization algorithm is employed to calculate the position of the SUV. This accelerates the localization process, and makes it in synchronization with the operation of the posture sensor. Experimental tests are designed and performed for this localization algorithm; results show the effectiveness in application.

关 键 词：水下机器人 马尔可夫自定位 软件体系结构 构件 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]