SIA OpenIR  > 水下机器人研究室
基于超短基线/多普勒的水下机器人位置估计
Alternative TitlePOSITION ESTIMATION OF UNDERWATER VEHICLE BASED ON USBL/DOPPLER
邢志伟; 张禹; 封锡盛
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2003
Volume25Issue:3Pages:231-234,263
Indexed ByEI ; CSCD
EI Accession number2003287541011
CSCD IDCSCD:1180516
Contribution Rank1
Funding Organization中国科学院创新基金资助项目 (资助号 :A0 10 60 3 )
Keyword超短基线 多普勒 定位 估计 水下机器人 卡尔曼滤波
Abstract为解决深海复杂环境下采用水声定位系统实现水下机器人位置控制所带来的反馈信号延迟问题 ,提出了基于 USBL/Doppler的水下机器人位置估计算法 .文中首先根据导航系统确定卡尔曼滤波器结构并建立了系统的状态方程和观测方程 ,同时 ,为了提高估计精度 ,引入自适应卡尔曼滤波理论 ,以降低系统对环境和初始噪声估计精度的敏感性 .最后通过数字仿真验证了算法的有效性 ,并给出了结论
Other AbstractA Position estimation algorithm for underwater vehicle is proposed based on the USBL/Doppler to cope with position feedback delay due to the underwater acoustic positioning system. The Kalman filter structure with the state equation and observation equation is established according to the navigation system for underwater vehicle. Moreover, the theory of adaptive Kalman filter is incorporated into the algorithm in order to enhance the estimation precision and make the system insensitive to the environment and initial conditions. Simulation result verifies the validity of the algorithm and conclusion is provided at the end of the paper.
Language中文
Citation statistics
Cited Times:4[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3686
Collection水下机器人研究室
Corresponding Author邢志伟
Affiliation1.中国科学院沈阳自动化所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
邢志伟,张禹,封锡盛. 基于超短基线/多普勒的水下机器人位置估计[J]. 机器人,2003,25(3):231-234,263.
APA 邢志伟,张禹,&封锡盛.(2003).基于超短基线/多普勒的水下机器人位置估计.机器人,25(3),231-234,263.
MLA 邢志伟,et al."基于超短基线/多普勒的水下机器人位置估计".机器人 25.3(2003):231-234,263.
Files in This Item:
File Name/Size DocType Version Access License
JQRR200303009.pdf(160KB) 开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[邢志伟]'s Articles
[张禹]'s Articles
[封锡盛]'s Articles
Baidu academic
Similar articles in Baidu academic
[邢志伟]'s Articles
[张禹]'s Articles
[封锡盛]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[邢志伟]'s Articles
[张禹]'s Articles
[封锡盛]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: JQRR200303009.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.