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基于超短基线定位的 AUV 对接导航方法研究
Alternative TitleResearch on AUV docking navigation method based on ultra-short baseline positioning
Thesis Advisor李一平
Keyword自主水下机器人 AUV对接 USBL定位 扩展卡尔曼滤波 路径规划
Degree Discipline控制理论与控制工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractAutonomous underwater docking technology can greatly expand the capabilities of autonomous underwater vehicles (AUV), so AUV docking becomes a research hotspot of underwater robots. Compared with other AUV missions, the main difficulty of the AUV docking is that it needs to control spatial position and attitude precisely, and AUV docking has higher requirements for robust and accuracy of AUV positioning and navigation. In order to meet the requirements of navigation for docking tasks, considering the particularity of AUV, this paper proposes an AUV docking navigation method based on ultra-short baseline (USBL) positioning. Navigation method refers how to guide the vehicle to move from one point to another along a certain route. The navigation mentioned in this paper consists of two aspects, one is the positioning, and the other is the path planning. So the main contents of the thesis include the following aspects: 1) According to the characteristics of USBL positioning and the specific requirements of AUV docking tasks, this paper proposed a reasonable and reliable docking navigation method and complete the mathematical model of the docking process. 2) A new USBL-based positioning algorithm is proposed. The position algorithm utilizes the AUV hydrodynamic model and uses the extended Kalman filter algorithm to fuse sensor data and model estimates. The algorithm is characterized by the solution of delay problem of USBL and the ability to dynamically estimate the current to eliminate the positioning error caused by currents. 3) Design a new path planning method for guidance of AUV docking. The method is based on the artificial potential field method, and is characterized by the use of a movable virtual obstacle point. The proposed path planning algorithm is simple but effective, can cope with the situation in which the docking station rotates and current changes during the docking. The paper takes the 50kg portable AUV ("Exploration 100" AUV) developed by Shenyang Institute of Automation as the research object, and uses the AUV to carry out the lake test,and then establishes a simulation platform. The built simulation platform is based on experimental data, and the simulation experiment is close to the real situation. The positioning performance of the statistical positioning algorithm is verified by a large number of simulation experiments. In addition, simulation experiments for path planning is made. The simulation results prove that the navigation method proposed in this paper can meet the requirements of AUV docking.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
裘天佑. 基于超短基线定位的 AUV 对接导航方法研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2019.
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