基于多普勒和光纤陀螺水下机器人导航系统研究

对基于DVL和FOG的导航方法进行研究,设计了导航方法的无缆水下机器人导航系统,分析导航系统的主要误差源,采用扩展Kalman滤波算法辨识传感器的安装偏差,通过湖试数据验证了该算法的稳定性和正确性。

This paper researches on underwater vehicles autonomous navigation method based on DVL and fiber-optic gyro(FOG),and designs an autonomous navigation system suited to large-range operating autonomous underwater robost.Its error identification problem is discussed,and an identification algorithm based on extended Kalman filter is proposed.The stability and correctness of the algorithm is validated by lake-field test data.

国家863计划资助项目(2002AA401003)