• 主题
高级搜索  >
历史搜索 清空历史
首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles
【2h】

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles

机译：低成本自主水下航行器的有效地形辅助导航

代理获取
本网站仅为用户提供外文OA文献查询和代理获取服务，本网站没有原文。下单后我们将采用程序或人工为您竭诚获取高质量的原文，但由于OA文献来源多样且变更频繁，仍可能出现获取不到、文献不完整或与标题不符等情况，如果获取不到我们将提供退款服务。请知悉。
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.
机译：地形辅助导航是一种潜在的强大解决方案，可为自动水下航行器获得水下位置定位。地形辅助导航与高精度惯性导航系统的结合已在海试中证明了仪表级导航的准确性。但是，根据任务的类型，可用的传感器可能会受到限制。这种限制，特别是对于低级导航传感器而言，不仅降低了传统导航系统的准确性，而且进一步影响了成功采用地形辅助导航的能力。为了解决这个问题，提出了一种紧密耦合的导航，可以通过将原始传感器数据直接合并到增强型导航系统中来成功估算关键传感器错误。此外，还可以计算三维距离误差，从而通过粒子滤波器为绝对和有界位置误差提供测量更新。为配备非惯性级捷联惯性导航系统，4束多普勒测速测距传感器和声纳高度计的车辆详细介绍了地形辅助导航系统的开发。利用实验数据对不同地形特征区域的导航性能进行评估，实验结果进一步表明，该方法可以成功应用于低成本的水下航行器，并显着提高了导航性能。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
代理获取

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