一种水下航行器运动自导航及轨迹跟踪方法
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摘要
水下航迹是水中运动物体的重要参数之一,通过航迹可以推算出水中运动目标的航速、回转半径等信息。本文介绍一种针对于水下自主航行器运动自导航及轨迹跟踪的方法及其工程实现,该方法采用声学定位原理,可以使水下自主航行器自身和船载指挥平台精确掌握航行器在水下的位置信息,对于自主航行器自身实现自导航和位置修正以及岸站指挥人员即时掌握水下自主航行器在水下的位置、速度及机动情况等态势信息有重要意义。
Underwater track is one of the important parameters of underwater moving object. We can calculate the speed and radius of gyration by the track.This paper introduces a method of self-navigation and tracking for AUV and the engineering realization, which adopts the principle of acoustic positioning. It is possible for AUV and shipborne platform to grasp the underwater position information accurately. It is of great significance for the AUV to realize self-navigation and position correction and for the shore station command personnel to grasp the position,speed and maneuverability of the AUV in real time.
Underwater track is one of the important parameters of underwater moving object. We can calculate the speed and radius of gyration by the track.This paper introduces a method of self-navigation and tracking for AUV and the engineering realization, which adopts the principle of acoustic positioning. It is possible for AUV and shipborne platform to grasp the underwater position information accurately. It is of great significance for the AUV to realize self-navigation and position correction and for the shore station command personnel to grasp the position,speed and maneuverability of the AUV in real time.
引文
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[2]江南,黄建国,李姗.长基线水下目标定位新技术研究[J].仪器仪表学报,2004,25(4):77-80.
[3]于运治,姜璐,郭志强.一种水下精确定位方法及其误差分析[J].四川兵工学报,2011,32(9):121-123.
[4]蔡惠智,刘云涛,蔡慧,等.水声通信及其研究进展[J].物理,2006,35(12):1038-1042.
[5]许肖梅.水声通讯与水声网络的发展与应用[J].声学技术,2009,28(6):811-814.
[6]陈云飞,李桂娟,贾兵,等.水下合作目标三维定位技术[J].舰船科学技术,2010,32(5):48-51.
[7]吴永亭,周兴华,杨龙.水下声学定位系统及其应用[J].海洋测绘,2003,23(4):18-21.
[8]陈逸伦.一种基于GPS实现水下定位的有效方法[J].科学技术与工程,2011,11(31):7754-7757.