基于超短基线的缆控水下机器人动力定位

动力定位 (DynamicPositioning(DP) )技术是水下机器人的关键技术之一。因此针对当前动力定位主要在缆控水下机器人 (ROV)中应用的情况 ,给出了ROV动力定位技术的实施方法。通过声学定位技术确定ROV的坐标 ,计算出与期望位姿的差 ,将其作为神经网络控制器的输入量来控制ROV ,从而进行动力定位。同时还重点研究了ROV动力定位中的主要研究内容即水声定位技术和定位控制技术的构建。

Dynamic Positioning is a key technology in Underwater Robot research field. Today,Dynamic Positioning is used most widely in Remote Operated Vehicle(ROV) . In this thesis ,the whole method of building the ROV Dynamic Positioning System is given. At first utilizing Acoustic Positioning Technology-(USBL)to get the Coordinate of ROV; then calculating its difference from the required ROV position and gesture; at last utilizing Neural Net Controller for Dynamic Positioning. The focus is on the main research points of ROV Dynamic Positioning field: Acoustic Positioning Technology and Positioning control Technology.