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专利名称: 一种预计水下机器人导航系统圆概率偏差的方法
其他题名: Method for predicting underwater vehicle navigation system circular error probability
作者: 冀大雄; 刘健; 林扬
所属部门: 海洋信息技术装备中心
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司 21002
专利国别: 中国
专利类型: 发明
专利状态: 有效
摘要: 一种预计水下机器人导航系统圆概率偏差的方法,首先确定导航系统所使用的传感器及其误差的标准差,然后根据eH=φ及航向传感器各项航向角误差的标准差,计算航向角误差所引起的横向偏差的标准差σ(eH);根据eL=λ及速度传感器的速度比例误差的标准差,计算速度比例误差引起的纵向偏差的标准差σ(eL),最后根据横向偏差的标准差和纵向偏差的标准差计算圆概率偏差。本发明在设计阶段可以有效预计导航系统的圆概率偏差;在试验或使用阶段可快速计算出圆概率偏差,几乎没有成本。
英文摘要: The invention relates to a method for predicting underwater vehicle navigation system circular error probability, which comprises the following steps: determining a sensor used by the navigation system and a standard difference of the error, then calculating the standard probability sigma (eH) of lateral deviation caused by course angle error according to the standard difference of eH of sigma and each course angle error of a course sensor calculating the standard probability sigma (eL) of vertical deviation caused by speed proportion error according to the standard difference of of speed proportion error of eL of Lambda and a speed sensor, and calculating circular error probability according to the standard difference of the lateral deviation and the standard difference of the vertical deviation. According to the invention, during the design phase, the circular error probability of the navigation system can be effectively predicted the circular error probability can be rapidly calculated during the test or usage phase, and the cost is almost free.
是否PCT专利:
申请日期: 2011-07-04
公开日期: 2013-01-09
授权日期: 2014-11-19
专利申请号: CN201110185483.3
公布/公告号: CN102865880A
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/13113
Appears in Collections:海洋信息技术装备中心_专利

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Recommended Citation:
冀大雄,刘健,林扬. 一种预计水下机器人导航系统圆概率偏差的方法. CN102865880A. 2013.
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文件名: CN201110185483.3.pdf
格式: Adobe PDF
文件名: CN201110185483.3授权.pdf
格式: Adobe PDF
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