SIA OpenIR  > 水下机器人研究室
Alternative TitleA USBL-Based Navigation Method for Portable AUV Homing
裘天佑1,2,3; 李一平1,2
Source Publication海洋技术学报
Contribution Rank1
Funding Organization国家重点研发计划资助项目(2017YFC0305901) ; 中国科学院战略先导专项(A类)资助项目(XDA13030205)
Keyword自主水下机器人 AUV对接 USBL定位 回坞导航
Other AbstractThe autonomous underwater vehicle (AUV) docking technology is currently the research hotspot in the field of underwater vehicles. The accurate and reliable AUV homing guidance is the key technology for docking. For the docking system of portable AUV, considering the limit space of portable AUV and the requirement for high-precision location, this paper presents a USBL-based navigation method for portable AUV homing, which allows AUV to need compass and transponder only to achieve accurate location. According to the feature of this navigation method, an improved extended Kalman filter algorithm is designed. The advantage is that it can handle delayed USBL data while dynamically estimating the current and updating state equation to eliminate the positioning error caused by the current. Through the lake trial and a large number of simulation experiments, the positioning performance of the localization algorithm is verified under the influence of currents.
Document Type期刊论文
Corresponding Author李一平
Recommended Citation
GB/T 7714
裘天佑,李一平. 一种基于超短基线定位的便携式AUV回坞导航方法[J]. 海洋技术学报,2019,38(2):36-42.
APA 裘天佑,&李一平.(2019).一种基于超短基线定位的便携式AUV回坞导航方法.海洋技术学报,38(2),36-42.
MLA 裘天佑,et al."一种基于超短基线定位的便携式AUV回坞导航方法".海洋技术学报 38.2(2019):36-42.
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