水下滑翔器运动控制与自主导航策略  

Motion Control and Navigation Strategy for Autonomous Underwater Glider

作　　者：史健[1] 龚威[1] 李梅[1] 张森[2] 秦玉峰[2] 贾立娟[2] 齐占峰[2] 杨燕[1] 孙秀军[2] 

机构地区：[1]天津城建大学,天津300384 [2]国家海洋技术中心,天津300112

出　　处：《海洋技术》2014年第6期40-45,共6页Ocean Technology

基　　金：海洋公益性行业科研专项资助项目(2014418023);国家高技术研究发展计划资助项目(SS2013AA092101);青年海洋科学基金资助项目(2013424)

摘　　要：水下滑翔器嵌入式控制系统采用Philips公司的LPC2478为主控芯片,搭载多路高精度传感器以及伺服执行系统。通过对水下滑翔器的结构分析,构建出水下滑翔器的动力学模型,采用神经网络PID控制算法调节动力学模型中的俯仰角和横滚角,实现水下滑翔器在水下运行时的姿态调节与航迹控制。引入高斯大地线算法,分析处理经纬度坐标与航向角数据,计算得到水下滑翔器的航行距离与航向角偏差数据,从而控制伺服系统实现导航控制。同时,鉴于水面环境与水下环境的差异,为提高水下滑翔器的导航精度,引入水下航位推算算法,推算出水下滑翔器在水下的航向与姿态角,提高其在水下运行的精确度。The autonomous underwater glider introduced in this paper uses the Philips LPC2478 as the core chip in its control system, and is equipped with multiple sensors and high-precision servo actuator systems. By analyzing its structure, the dynamic model is constructed for the underwater glider. Neural network PID control algorithm is adopted to adjust the pitch angle and roll angle of the dynamic model, realizing attitude adjustment and underwater track control. According to latitude and longitude coordinates and heading angle data, the Gaussian Geodesic Algorithm calculates the travel distance and heading angle deviation data of the underwater glider, thus controlling the servo actuator systems to achieve the goal of navigation control. Meanwhile, considering the differences between the surface and underwater environment, and in order to improve the navigation accuracy, this paper introduces underwater dead reckoning algorithm, so as to calculate the glider’s underwater heading and attitude angle.

关 键 词：水下滑翔器 嵌入式系统 神经网络PID算法 高斯大地线算法 航位推算算法 

分 类 号：P715.5[天文地球—海洋科学]