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研究了自主水下航行器组合导航系统精度.仿真结果表明,在有色噪声情况下,组合导航系统有效地克服了传统滤波容易发散的缺点.-Studied the combination of autonomous underwater vehicle navigation system accuracy. The simulation results show that in the case of colored noise, integrated navigation system to effectivel
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基于多传感器的自治潜水器定位和创建地图方法
摘要：利用传感器间的外标定方法，把成像声纳的特征元素转换到相机坐标系中，再利用计算机视觉领域的struction fron motion 方法进行求解。-Multi-sensor based on the autonomy of underwater vehicle position and the creation of the map method Abstract: The use of outside inter-sensor calibr
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《Exploiting force feedback in pilot training and control of an underwater
robotics vehicle: an implementation in LabVIEW》
Xunzhang Wang Seet, G.G.L. Lau, M.W.S. Low, E. Tan, K.C.
OCEANS 2000 MTS/IEEE Conference and Exhibition
Volume 3, 1
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Optimum path planning algorithm in horizontal and vertical planes with obstacle avoidance of an autonomous underwater vehicle
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One issue with underwater sensors is how to efficiently transfer large amounts of data collected by the node to an interrogating platform such as an underwater vehicle. It is often impractical to make a physical connection between the node and the ve
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本文分析了矿山水下轮式采煤车的定位定向导航的可实现问题，通过对该系统的实物应用试验,实验结果表明了组合导航系统的有效性。-This paper analyzes the coal mines underwater wheeled vehicle location and orientation navigation problem can be achieved through the physical application of the system test, test results v
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基于平移不变小波变换的多普勒速度声纳输出信号处理.针对水下航行器组合导航系统所使用的多普勒速度声纳输出信号的特点,采用了平移不变小波变换的多分辨率分析的方法,利用Daubechies小波函数,采用了半软阈值去噪的方法,能够在低信噪比的情况下准确地估计多普勒声纳的频移,从含有噪声的多普勒输出信号中提取出原始信号.通过仿真实验表明:采用4层小波分解,算法计算量减小,有效地消除多普勒噪声,从而提高水下组合导航系统的精度. -Doppler speed the sonar output signal p
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水下机器人在线最小二乘辨识、应急导航策略研究-Recursive Identification of Autonomous Underwater Vehicle for Emergency Navigation
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Observer-based nonlinear control of depth positioning of a spherical underwater robotic vehicle
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A submarine motion simulation study was performed for the maneuvering character-
istics of Draper Laboratories Unmanned Underwater Vehicle (UUV). The Revised StandardSubmarine Equations of Motion (EOM), usually used by the Navy, were augmented to i
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This paper presents a method for estimating the spectra of water wave disturbances onfive of the six axes of a stationary, slender body underwater vehicle in an inertia dominated waveforce regime, both in head seas and in beam seas. Inertia dominated
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Closed loop control of an unmanned underwater vehicle (UUV) in the dynamicallydifficult environment of shallow water requires explicit consideration of the highly
coupled nature of the governing non-linear equations of motion.-Closed loop control o
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Single Input Fuzzy Logic Controller for Unmanned Underwater Vehicle
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Adaptive PD-controller for positioning of a remotely operated vehicle close to an underwater structure_Theory and experiments
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