| 基于无色卡尔曼滤波的深海机器人超短基线组合导航方法 | |
| Alternative Title | Adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method |
刘开周 ; 李静; 郭威; 祝普强; 王晓辉
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| Department | 海洋机器人卓越创新中心 |
| 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 | 发明授权 |
| Status | 有权 |
| Abstract | 本发明涉及一种基于无色卡尔曼滤波的深海机器人超短基线组合导航方法，利用全球定位系统获取深海机器人的初始绝对位置作为航迹推算的初始点，并采集初始信息；采用无色卡尔曼滤波方法对采集到的初始信息进行数据融合，得出融合后的信息。本方法可以提高使用超短基线定位系统的深海机器人的导航精度，同时能够平滑深海机器人控制系统所需的航向、深度以及载体坐标系下的速度信息。 |
| Other Abstract | The invention relates to an adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method. The method comprises the following steps of acquiring a deepwater robot initial absolute position as a track estimation starting point by a global positioning system, acquiring initial information, and carrying out data fusion on the acquired initial information by an adaptive unscented Kalman filter method to obtain fused information. The adaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method improves a navigation precision of a deepwater robot adopting a short-baseline positioning system and can smooth a course and depth needed by a deepwater robot control system and speed information under a carrier coordinate system. |
| PCT Attributes | 否 |
| Application Date | 2013-07-08 |
| 2015-01-14 | |
| Date Available | 2017-06-23 |
| Application Number | CN201310284641.X |
| Open (Notice) Number | CN104280025B |
| Language | 中文 |
| Contribution Rank | 1 |
| Document Type | 专利 |
| Identifier | http://ir.sia.cn/handle/173321/20611 |
| Collection | 海洋机器人卓越创新中心 |
| Affiliation | 中国科学院沈阳自动化研究所 |
| Recommended Citation GB/T 7714 | 刘开周,李静,郭威,等. 基于无色卡尔曼滤波的深海机器人超短基线组合导航方法[P]. 2015-01-14. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| CN201310284641.X授权.p（492KB） | 专利 | 开放获取 | CC BY-NC-SA | View Download | ||
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