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      [1]徐旭,何昆鵬,張琳.在水池中精確測量潛器模型運動參數方法[J].哈爾濱工程大學學報,2020,41(7):1010-1015.[doi:10.11990/jheu.201906108]
       XU Xu,HE Kunpeng,ZHANG Lin.Method for accurately measuring motion parameters of underwater vehicle model in a pool[J].hebgcdxxb,2020,41(7):1010-1015.[doi:10.11990/jheu.201906108]
      點擊復制

      在水池中精確測量潛器模型運動參數方法(/HTML)
      分享到:

      《哈爾濱工程大學學報》[ISSN:1006-6977/CN:61-1281/TN]

      卷:
      41
      期數:
      2020年7期
      頁碼:
      1010-1015
      欄目:
      出版日期:
      2020-07-05

      文章信息/Info

      Title:
      Method for accurately measuring motion parameters of underwater vehicle model in a pool
      作者:
      徐旭 何昆鵬 張琳
      哈爾濱工程大學 自動化學院, 黑龍江 哈爾濱 150001
      Author(s):
      XU Xu HE Kunpeng ZHANG Lin
      College of Automation, Harbin Engineering University, Harbin 150001, China
      關鍵詞:
      水下機器人導航定位慣性慣導卡爾曼濾波高通濾波推位導航誤差估計零速修正
      分類號:
      U666.12
      DOI:
      10.11990/jheu.201906108
      文獻標志碼:
      A
      摘要:
      為了在水池實驗中精確測量水下潛器模型運動參數,本文設計了一種成本低365英超体育投注、實時性好和測量信息全面的慣性導航測量方法。為獲取水下潛器模型的運動狀態,本文依據高通濾波后的瞬時線速度和模型運動的角速度及姿態,提出了一種水下潛器是否處于機動狀態的判斷方案365英超体育投注?紤]到水下潛器運動的便利性,當模型被判斷為靜止后將進行一次朝向調整以更為充分地獲取陀螺儀和加速度計常值誤差的估計。水池模擬實驗表明:采用該方法的測量精度估計比慣導推位方法減少了75%的誤差,水池實驗也證實了該方法可將上浮定位誤差減少至厘米級。

      參考文獻/References:

      [1] LYU Pengfei, HE Bo, GUO Jia, et al. Underwater navigation methodology based on intelligent velocity model for standard AUV[J]. Ocean engineering, 2020, 202:107073.
      [2] 秦永元. 慣性導航[M]. 2版. 北京:科學出版社, 2014.QIN Yongyuan. Inertial navigation[M]. 2nd ed. Beijing:Science Press, 2014.
      [3] YAO Yiqing, XU Xiaosu, XU Xiang. An IMM-aided ZUPT methodology for an INS/DVL integrated navigation system[J]. Sensors, 2017, 17(9):2030.
      [4] 袁書明, 程建華, 馬斌. 基于自適應頻率估計的艦船瞬時線運動測量方法[J]. 中國慣性技術學報, 2016, 24(5):565-570.YUAN Shuming, CHENG Jianhua, MA Bin. Measurement method for ship instantaneous linear movement based on adaptive frequency estimation[J]. Journal of Chinese inertial technology, 2016, 24(5):565-570.
      [5] 孫偉, 孫楓. 基于慣導解算的艦船升沉測量技術[J]. 儀器儀表學報, 2012, 33(1):167-172.SUN Wei, SUN Feng. Measurement technology of ship heave movement based on sins resolving[J]. Chinese journal of scientific instrument, 2012, 33(1):167-172.
      [6] 孫偉, 孫楓, 楊琳. 動態環境下艦船瞬時線運動測量方法研究[J]. 系統仿真學報, 2013, 25(4):839-844.SUN Wei, SUN Feng, YANG Lin. Research on measurement method of warship instantaneous line motion under condition of dynamic motion[J]. Journal of system simulation, 2013, 25(4):839-844.
      [7] HU Keyong, GUO Zhongwen, CHE Zhaodong, et al. Composition model of complex virtual instrument for ocean observing[J]. Journal of software, 2014, 9(5):1177-1188.
      [8] HAM F M, BROWN R G. Observability, eigenvalues, and kalman filtering[J]. IEEE Transactions on Aerospace and Electronic Systems, 1983, AES-19(2):269-273.
      [9] 王新龍. 捷聯式慣導系統動365英超体育投注、靜基座初始對準[M]. 西安:西北工業大學出版社, 2013.WANG Xinlong. National defense monograph[M]. Xi’an:Northwestern Polytechnical University Press, 2013.
      [10] 王曉雪. 光纖捷聯慣導系統初始對準方法研究[D]. 哈爾濱:哈爾濱工程大學, 2016.WANG Xiaoxue. Research on initial alignment method of fiber optic strapdpwn navigationg system[D]. Harbin:Harbin Engineering University, 2016.
      [11] 何昆鵬, 許德新, 吳簡彤, 等. 船用捷聯慣性導航系統在系泊狀態下快速初始對準與標定[J]. 哈爾濱工程大學學報, 2008, 29(9):944-950.HE Kunpeng, XU Dexin, WU Jiantong, et al. Initial rapid alignment/calibration of a marine strapdown inertial navigation system in moorage[J]. Journal of Harbin Engineering University, 2008, 29(9):944-950.

      相似文獻/References:

      [1]郭冰潔,徐玉如,李岳明.水下機器人S面控制器的改進粒子群優化[J].哈爾濱工程大學學報,2008,(12):1277.
       GUO Bing-jie,Xu Yu-ru,LI Yue-ming.S surface controller for underwater vehicles using particle swarm optimization[J].hebgcdxxb,2008,(7):1277.
      [2]毛宇峰,龐永杰,李 曄,等.速度矢量坐標系下水下機器人動態避障方法[J].哈爾濱工程大學學報,2010,(02):159.
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       ZHANG Wei,WANG Naixin,WEI Shilin,et al.Overview of unmanned underwater vehicle swarm development status and key technologies[J].hebgcdxxb,2020,41(7):289.[doi:10.11990/jheu.201909039]

      備注/Memo

      備注/Memo:
      收稿日期:2019-06-29。
      基金項目:航空科學基金項目(實驗室類)(201658P6007);重點實驗室裝備預先研究基金項目(614250601031711).
      作者簡介:徐旭,男,博士研究生;何昆鵬,男,副研究員.
      通訊作者:何昆鵬,E-mail:hekunpeng@hrbeu.edu.cn.
      更新日期/Last Update: 2020-08-15
      365英超体育投注

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