基于LBL声信标的AUV快速精确定位

长基线声学定位系统是水下机器人广泛应用的外部导航设备。以对"CR-02"6000m自治水下机器人(简称AUV)技术的深入开发为背景,提出在原有长基线(LBL)定位系统的基础上增加导航功能的方案。由于海水介质非均匀性与复杂的时空变化特性,给基于测距的位置计算带来很大困难。采用平均声速法计算耗时小而误差大,波阵面定位法误差小而耗时大。为解决这个矛盾,根据AUV深度传感器给出的深度信息,采用本征声线快速计算方法解算AUV的水平面位置。与波阵面法、平均声速法进行了综合比较。仿真实验表明该方法具有优良的性能,满足AUV导航需要。

Long base-line acoustic positioning system is widely used as outer navigation equipment in unmanned underwater vehicles. A scenario that adding the navigation function on primary LBL system is brought forward here under the ground of advanced study of "CR-02"6000 meters AUV. The accurate position calculation using range measurements is difficult because of both non-uniformity and diversity with time and space of seawater medium. In AUV position using LBL beacons, the positioning error of average sound veloc...

国家自然科学基金资助项目(60775061); 中国科学院知识创新工程基地基金资助项目(07W6130601)