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专利名称:
一种基于超短基线的导航定位方法
其他题名: Navigation positioning method based on ultra short base line
作者: 王飞; 徐春晖; 王轶群; 刘健; 许以军
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: 实审
摘要: 本发明公开一种基于超短基线(USBL)的导航定位方法,该发明将水下无人无缆水下机器人(水下机器人)的超短基线定位信息通过声通讯机发给水下机器人,以实现水下机器人的组合导航功能。该发明分成2个阶段,第一阶段是利用USBL对水下机器人进行跟踪定位,并将定位信息通过声通讯机发给水下机器人,第二阶段是水下机器人接收到定位信息,再经过运动补偿对导航算法进行状态更新。本发明操作简单,能准确有效地利用USBL定位信息实现水下机器人组合导航,进而提高水下机器人在水下的导航定位精度。
英文摘要: The invention discloses a navigation positioning method based on ultra short base line (USBL). According to the navigation positioning method, ultra short base line positioning information of an underwater unmanned untethered underwater robot (underwater robot) is sent to the underwater robot via a sound communication machine so as to realize integrated navigation of the underwater robot. The navigation positioning method comprises two steps: firstly, USBL is adopted for tracking and positioning of the underwater robot, and positioning information is sent to the underwater robot via the sound communication machine; and secondly, the positioning information is received by the underwater robot, and state updating of navigation algorithm is carried out via motion compensation. Operation of the navigation positioning method is simple; and USBL positioning information can be used for realizing underwater robot integrated navigation accurately and effectively, so that underwater navigation positioning accuracy of underwater robots is increased further.
是否PCT专利:
申请日期: 2014-10-30
公开日期: 2016-06-01
专利申请号: CN201410605690.3
公布/公告号: CN105628016A
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/18916
Appears in Collections:海洋信息技术装备中心_专利

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Recommended Citation:
王飞,徐春晖,王轶群,等. 一种基于超短基线的导航定位方法. CN105628016A. 2016.
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