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一种深海潜水器导航方法
Alternative TitleNavigation method of human occupied vehicle
刘开周; 林燕平; 刘本
Department水下机器人研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status实审
Abstract本发明公开的是一种深海潜水器导航方法,该方法首先建立了载人潜水器的动力学模型方程。利用迭代SRUKF方法,将深海载人潜水器的航迹推算系统和长基线定位系统的导航数据进行滤波估计,从而实时得到精确且可靠的导航数据。该方法具有很好的实时性和可靠性,可用于指导潜水器在深海环境中更好的执行任务。本发明能提高深海载人潜水器的导航精度,提高系统的鲁棒性。
Other AbstractThe invention discloses a navigation method of a human occupied vehicle. According to the method, firstly, the dynamical model equation of the human occupied vehicle is established. Through utilization of an iterative SRUKF method, the navigation data of the dead reckoning system and the long baseline positioning system of the human occupied vehicle are filtered and estimated, and therefore precise and reliable navigation data is obtained in real time. The method has good timeliness and reliability and can be used for guiding the human occupied vehicle to execute tasks in a deep see environment. According to the method, the navigation precision of the human occupied vehicle can be improved, and the system robustness can be improved.
PCT Attributes
Application Date2014-12-31
2016-07-27
Application NumberCN201410851699.2
Open (Notice) NumberCN105808911A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/19031
Collection水下机器人研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
刘开周,林燕平,刘本. 一种深海潜水器导航方法[P]. 2016-07-27.
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