Multi-sensors data acquisition and information fusion for manned submersible vehicle

本文介绍了一种用于载人潜水器的导航传感器的数据采集及信息融合技术。航行控制计算机通过基于工业以太网的数据通信系统对各传感器进行数据采集,采用卡尔曼滤波器完成对各传感器数据信息的融合,以便提高数据的精度和控制系统的性能,并将结果送给监控计算机,用于载人潜水器的姿态显示。

A way of navigation sensors data acquisition and information fusion for manned submersible vehicle is introduced in this paper. Firstly, navigation control computer acquires the sensors data via Ethernet-based intercommunication system. And then the computer fuses those data and information in Kalman filter so as to improve the data precision and control system performance. At last the fusion data are sent to monitor computer to display the information of manned submersible vehicle.

国家“863”(203AA401003)资助项目