基于多传感器的波浪能滑翔器导航策略研究  

Research of wave glider navigation control strategy based on multi-sensor

作　　者：史健[1] 龚威[2] 齐占峰[3] 贾立娟[3] 张森[3] 秦玉峰[3] 

机构地区：[1]天津城建大学计算机与信息工程学院,天津300384 [2]天津城建大学控制与机械工程学院,天津300384 [3]国家海洋技术中心深海室,天津300112

出　　处：《传感器与微系统》2014年第6期23-26,30,共5页Transducer and Microsystem Technologies

基　　金：国家"863"计划资助项目;国家公益性行业科研专项基金资助项目;国家海洋局青年海洋科学基金资助项目(2013424);国家海洋技术中心自筹科研基金资助项目(K31300402)

摘　　要：以LPC2478为核心的嵌入式控制系统通过对多路传感器的数据采集,实现了波浪能滑翔器在海洋中的自主巡航监测环境。基于高斯大地线算法,计算出当前位置与预设位置的大地线距离和航向角偏差值;同时基于PID控制算法,计算出尾舵系统需要偏转的角度。2种算法构成了导航策略的算法体系,实现了波浪能滑翔器的视向跟踪和虚拟锚泊。同时,为保证导航信息的精准度,增加2组传感器:波高仪和流速仪,作为辅助导航传感器,从而建构了一个完整的控制波浪能滑翔器自主运行的导航系统结,在实际海洋试验中,取得了良好效果。Through data acquisition of muhi-sensor,the core of LPC2478-based embedded control system achieves goal of autonomous cruising monitoring of wave glider in ocean. Based on Gaussian geodesic algorithm, calculate geodesic distance of current and presupposed position and heading angle deviation value;simultaneously based on PID control algorithm, calculate system outputs deflection angle which is needed for stem rudder system. The two algorithms constitute algorithm system of navigation strategy, achieve visual tracking and virtual anchor of wave glider. Meanwhile, to ensure accuracy of navigation information, two groups of sensors are added, that is wave height meter and flow meter, as auxiliary navigation sensors. Thus a complete navigation system for controlling of wave glider motion is constructed, and in practical applications of sea trial, the system achieves good results.

关 键 词：波浪能滑翔器 多传感器 导航控制系统 嵌入式技术 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]