• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>OCEANS 2011 >Improving Slocum Glider dead reckoning using a Doppler Velocity Log
【24h】

Improving Slocum Glider dead reckoning using a Doppler Velocity Log

机译：使用多普勒速度测井仪改善Slocum Glider推算

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The Slocum Electric Glider is a buoyancy driven Autonomous Underwater Vehicle (AUV) capable of long term deployments typically lasting four to six weeks. During missions execution, the vehicle makes use of the Global Positioning System (GPS) to navigate to its commanded waypoints. GPS, however, can only be used while the vehicle is at the surface. While underwater, the glider uses a simple dead reckoning (DR) algorithm to estimate its location and does not find its true position again until its next periodic surfacing. The Slocum Glider's dead reckoning algorithm estimates its position based on speed and heading calculations; they are derived from measurements from onboard sensors. Specifically, speed is determined by the depth rate change and pitch angle over a period of time. Since there is limited sensory input to the algorithm, the vehicle's estimated global position can differ significantly from its true position. Precise location information is important when collecting spatiotemporal sensitive sensor data and for vehicle navigation. In this paper, we will explore the benefits that can be gained if the dead reckoning algorithm makes use of a Doppler Velocity Log (DVL) to improve a vehicle's location estimates. Initial results based on a deployment equipped with the DVL on a Slocum Glider show promising results.
机译：斜坡电动滑翔机是一种浮力驱动的自主水下车辆（AUV），其能够长期部署，通常持续四到六周。在任务执行期间，车辆利用全球定位系统（GPS）导航到其命令的航点。但是，只有在车辆在表面时才可以使用GPS。在水下时，滑翔机使用简单的死亡估算（DR）算法来估计其位置，并且在其下一个周期性浮出度之前再次找到其真实位置。 Slocum Glider的Dead Reckoning算法估计其基于速度和标题计算的位置;它们是从船上传感器的测量来源的。具体地，在一段时间内通过深度速率变化和俯仰角来确定速度。由于对算法的感觉输入有限，因此车辆的估计全球位置可能与其真实位置有显着差异。精确的位置信息在收集时空敏感传感器数据和车辆导航时非常重要。在本文中，我们将探讨如果死速算法利用多普勒速度日志（DVL）以改善车辆的位置估计，则可以获得可以获得的好处。基于配备有DVL的部署的初始结果，Slocum滑翔机上显示了有希望的结果。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号