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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 TitleAdaptive unscented Kalman filter-based deepwater robot short-baseline combined navigation method
刘开周; 李静; 郭威; 祝普强; 王晓辉
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 AbstractThe 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
Application Date2013-07-08
2015-01-14
Date Available2017-06-23
Application NumberCN201310284641.X
Open (Notice) NumberCN104280025B
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://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.
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