SIA OpenIR  > 水下机器人研究室
Alternative TitleResearch on the Integrated Navigation System of AUV
Thesis Advisor刘键
KeywordAuv 组合导航 航位推算
Call NumberTP242.3/F66/2005
Degree Discipline模式识别与智能系统
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 AbstractAt present, autonomous underwater vehicle is widely used for those areas such as sea environments detection, sea-earth scientific data sampling and sea floor resources investigation and so on. However, for AUV which inter-place is limited and taking resources is finite and sails long distances for a long time, so whether good or not its navigation system performance decides whether AUV can accomplish tasks or not. Now the development of various solo-navigation systems and devices tends to be in the autumn period. Therefore, their respective shortcomings have already been obviously demonstrated. For recent decade years, with development of technology multifarious integrated navigation systems have been rushing. So especially in terms of those sailing indices such as long distance in unknown areas, low velocity for a long time and so on, research on integrated navigation systems is becoming more important. However, in fact those investigations are relatively less. On the basis of the requirements of practical projects two types of navigation system schemes, which are integrated navigation system that one is made up of GPS and Dead Reckoning system, the other one that consists of Ultra Short Baseline Communication System, Doppler Velocity Log and Fiber Optic Gyro, are introduced in this paper. The former adapts to most of AUV navigation. However, the later has special predominance in those environments such as Polar Regions, deep-sea areas etc. Moreover, in order to better satisfy the practical needs, dead reckoning that is one of the most widely used ways in AUV navigation is developed in this paper. Besides, the navigation filtering and fusion algorithms are discussed and ultimately adaptive Kalman filter is chosen to implement real-time fusing navigation information of AUV. And for the case that demands not high precisions for altitude and depth information when AUV is marching, a relatively simple, available way that also has a good real-time performance, Recursive least square filtering with fading factor, is adopted to filter navigation information. Finally, applying sensors data that have been acquired through AUV navigation experiments to simulate in this way, the outcomes indicate that dead-reckoning precisions have been doubled. Moreover, the precisions of the integrated navigation system incorporating with filtering GPS data have been further improved. So those experiments make clear that the integrated navigation scheme can satisfy the projection requirements and have a certain application values.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
冯子龙. AUV组合导航定位方法的研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2005.
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