无缆水下机器人组合导航系统

无缆水下机器人是我国首次开展的高技术课题,组合导航系统是无缆水下机器人研究中的关键部分,本文介绍了多种导航设备同时工作,经过信息综合处理获得高精度导航信息的组合导航系统和组合导航系统中所需要的坐标转换及卡尔曼滤波器的计算,为无缆水下机器人建立一个较理想的导航方式。

The untethered underwater robot is a high technology project. The integrated navigation system is key device in the untethered underwater robot. The system can integrate and process the information from many navigation equipments, which are working in same time. The neces- sary coodinate transforming and Kalman Filter design to the integrated navigation system is in- troduced in this paper