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基于LBL声信标的AUV快速精确定位
Alternative TitleFast and accurate AUV positioning using acoustic beacons of LBL system
冀大雄; 刘健; 陈孝桢; 封锡盛
Department水下机器人研究室
Source Publication声学技术
ISSN1000-3630
2009
Volume28Issue:4Pages:476-879
Indexed ByCSCD
CSCD IDCSCD:3692332
Contribution Rank1
Funding Organization国家自然科学基金资助项目(60775061); 中国科学院知识创新工程基地基金资助项目(07W6130601)
Keyword长基线 定位 本征声线 快速性
Abstract长基线声学定位系统是水下机器人广泛应用的外部导航设备。以对"CR-02"6000m自治水下机器人(简称AUV)技术的深入开发为背景,提出在原有长基线(LBL)定位系统的基础上增加导航功能的方案。由于海水介质非均匀性与复杂的时空变化特性,给基于测距的位置计算带来很大困难。采用平均声速法计算耗时小而误差大,波阵面定位法误差小而耗时大。为解决这个矛盾,根据AUV深度传感器给出的深度信息,采用本征声线快速计算方法解算AUV的水平面位置。与波阵面法、平均声速法进行了综合比较。仿真实验表明该方法具有优良的性能,满足AUV导航需要。
Other AbstractLong base-line acoustic positioning system is widely used as outer navigation equipment in unmanned underwater vehicles. A scenario that adding the navigation function on primary LBL system is brought forward here under the ground of advanced study of "CR-02"6000 meters AUV. The accurate position calculation using range measurements is difficult because of both non-uniformity and diversity with time and space of seawater medium. In AUV position using LBL beacons, the positioning error of average sound veloc...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3458
Collection水下机器人研究室
Corresponding Author冀大雄
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.南京大学电子科学与工程系
Recommended Citation
GB/T 7714
冀大雄,刘健,陈孝桢,等. 基于LBL声信标的AUV快速精确定位[J]. 声学技术,2009,28(4):476-879.
APA 冀大雄,刘健,陈孝桢,&封锡盛.(2009).基于LBL声信标的AUV快速精确定位.声学技术,28(4),476-879.
MLA 冀大雄,et al."基于LBL声信标的AUV快速精确定位".声学技术 28.4(2009):476-879.
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