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首页> 外文学位 >A Feasibility Assessment of a New Navigation System for Unmanned Underwater Vehicles with Adaptive Gain Sliding Mode Differentiation.
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A Feasibility Assessment of a New Navigation System for Unmanned Underwater Vehicles with Adaptive Gain Sliding Mode Differentiation.

机译：具有自适应增益滑模微分的无人水下航行器新导航系统的可行性评估。

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摘要

In this work, a highly accurate navigation device is proposed for unmanned underwater vehicle navigation. A six degree of freedom, open loop underwater vehicle model is generated and is used as the motion platform in this study. The new navigation system, previously developed at the Rochester Institute of Technology, requires real-time body angular acceleration terms as inputs to the algorithm. To address this requirement, real-time signal differentiation techniques were investigated. The differentiation of real-world, noisy signals is a difficult task due to the inherent numerical differentiation and subsequent noise amplification. A sliding mode differentiation scheme is proposed with a fuzzy adaptive controller to aid the accuracy of the signal differentiator and minimize noise amplification. The device algorithms are then implemented in the underwater vehicle model and navigation estimates are compared against theoretical motion. The result is an accurate representation of underwater vehicle attitude and velocity without the aid of global positioning satellite data. Although inertial position estimates obtained from noisy signals suffer from drifting, the filtering techniques used in this work minimize this effect. The navigation estimates show the best results on dynamic maneuvers which do not induce a rolling motion as the underdamped rolling motion requires higher steady state noise for estimation. When assessed against current technologies for underwater vehicle navigation that do not use GPS, the proposed system provides comparable estimation results while creating a reduction of cost, weight and removing the dependence on the speed of sound in water.
机译：在这项工作中，提出了一种用于无人水下航行器导航的高精度导航装置。生成了六自由度开环水下航行器模型，并将其用作本研究中的运动平台。先前由罗切斯特理工学院开发的新导航系统需要实时的车身角加速度项作为算法的输入。为了满足这一要求，研究了实时信号微分技术。由于固有的数值差异和随后的噪声放大，区分现实世界中的嘈杂信号是一项艰巨的任务。提出了一种带有模糊自适应控制器的滑模微分方案，以提高信号微分器的精度并最大程度地减少噪声放大。然后在水下航行器模型中实现设备算法，并将导航估计值与理论运动进行比较。结果是无需借助全球定位卫星数据即可准确表示水下航行器的姿态和速度。尽管从噪声信号获得的惯性位置估计值会产生漂移，但这项工作中使用的滤波技术将这种影响降到了最低。导航估计在动态操纵上显示出最佳结果，该动态操纵不会引起滚动运动，因为欠阻尼滚动运动需要更高的稳态噪声进行估计。当根据不使用GPS的当前水下航行器技术进行评估时，建议的系统可提供可比的估算结果，同时降低了成本，减轻了重量并消除了对水中声速的依赖性。

著录项

  • 作者

    Szklany, Steven A.;

  • 作者单位

    Rochester Institute of Technology.;

  • 授予单位 Rochester Institute of Technology.;
  • 学科 Engineering Naval.;Engineering Mechanical.
  • 学位 M.S.
  • 年度 2012
  • 页码 191 p.
  • 总页数 191
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 公共建筑;
  • 关键词

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