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基于AUKF的深海机器人长基线组合导航方法
Alternative TitleAdaptive unscented Kalman filter (AUKF)-based deepwater robot long-baseline combined navigation method
刘开周; 李静; 郭威; 祝普强; 王晓辉
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发明授权
Status有权
Abstract本发明涉及一种基于AUKF的深海机器人长基线组合导航方法,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,并采深海机器人的集初始信息;构建无色卡尔曼滤波主滤波器并对采集到的初始信息进行滤波估计,构建无色卡尔曼辅助滤波器,对主滤波器滤波估计后信息进一步滤波估计,采用自适应无色卡尔曼滤波的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。本发明提高使用长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 (AUKF)-based deepwater robot long-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 of the deepwater robot, constructing an unscented Kalman filtering main filter, carrying out filtering estimation on the acquired initial information, constructing an unscented Kalman assistant filter, further carrying out filtering estimation on the information subjected to unscented Kalman main filter-based filtering estimation and carrying out data fusion on the acquired initial information by an AUKF method to obtain fused information. The AUKF-based deepwater robot long-baseline combined navigation method improves a navigation precision of a deepwater robot adopting a long-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 Available2017-11-14
Application NumberCN201310284939.0
Open (Notice) NumberCN104280026B
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/21194
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,李静,郭威,等. 基于AUKF的深海机器人长基线组合导航方法[P]. 2015-01-14.
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