| 引用本文: | 高延增,叶家玮,陈远明,梁富琳.超小型水下机器人智能定位系统[J].控制理论与应用,2010,27(9):1140~1144.[点击复制] |
| GAO Yan-zeng,YE Jia-wei,CHEN Yuan-ming,LIANG Fu-lin.Intelligent localization-system for subminiature underwater-vehicle[J].Control Theory and Technology,2010,27(9):1140~1144.[点击复制] |
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| 超小型水下机器人智能定位系统 |
| Intelligent localization-system for subminiature underwater-vehicle |
| 摘要点击 2307 全文点击 1439 投稿时间：2009-06-01 修订日期：2010-02-10 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.9.CCTA090687 |
| 2010,27(9):1140-1144 |
| 中文关键词 水下机器人 马尔可夫自定位 软件体系结构 构件 |
| 英文关键词 underwater vehicle Markov localization software architecture component |
| 基金项目 |
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| 中文摘要 |
| 提出一种新的超小型水下机器人智能定位系统. 融合短基线定位声纳、电子罗盘、X=Y 倾角传感器和深度传感器组成超小型水下机器人定位的硬件系统, 使用基于构件的方法开发了针对超小型水下机器人定位系统的水上控制计算机三维虚拟显示软件. 使用马尔可夫自定位算法在实测定位声纳信号的间隙推算水下机器人的位置, 提高定位速度, 使其与姿态传感器同步. 设计了定位算法有效性的测试实验, 结果证明算法有效. |
| 英文摘要 |
| A new intelligent localization system is developed for the subminiature-underwater-vehicle(SUV). In this system, we combine the short-base-line(SBL) localization sonar, the electronic compass, the X=Y angle-sensor and the depth sensor to make up the hardware architecture for the SUV localization system; and develop the component-based 3D virtual display software system for the land-based positioning computer. In the time-interval between SBL signalmeasurements, the Markovian-self-localization algorithm is employed to calculate the position of the SUV. This accelerates the localization process, and makes it in synchronization with the operation of the posture sensor. Experimental tests are designed and performed for this localization algorithm; results show the effectiveness in application. |
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