...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>The Journal of Navigation >A Feasibility Study of Applying Laser Line Scanning to AUV Hydrodynamic Parameter Identification
【24h】

A Feasibility Study of Applying Laser Line Scanning to AUV Hydrodynamic Parameter Identification

机译：激光线扫描在AUV水动力参数辨识中的可行性研究

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Precise control is a key factor in enabling Unmanned Underwater Vehicles (UUVs) to complete various underwater activities. The development of UUV control rules is mostly based on UUV dynamic models. However, such dynamic models contain unknown hydrodynamic parameters that need to be identified. This paper presents a new method. Laser Line Scanning for Hydrodynamic Parameter Identification (LSHPI), which integrates laser line scanning, decoupled dynamics, and evolutionary optimisation to identify the hydrodynamic parameters of an Autonomous Underwater Vehicle (AUV). In this research, laser images, seen from an on board camera's perspective and created using Open Graphics Library (OpenGL), were used to validate LSHPI's feasibility. The accuracy of the AUV positions and Euler angles obtained by the laser image-based methods were investigated for each decoupled One-Dimensional (1D) motion and the influence of other motion disturbances on the accuracy of the obtained AUV positions or Euler angles was also evaluated. In addition, the accuracy of the surge-related hydrodynamic parameters obtained by LSHPI was investigated under different motion disturbances. Based on the hydrodynamic parameter identification results under different motion disturbances, LSHPI's feasibility was successfully validated.
机译：精确控制是使无人水下航行器（UUV）能够完成各种水下活动的关键因素。 UUV控制规则的开发主要基于UUV动态模型。但是，此类动力学模型包含需要识别的未知流体动力学参数。本文提出了一种新方法。用于水动力参数识别的激光线扫描（LSHPI），它集成了激光线扫描，解耦动力学和进化优化，可识别自主水下航行器（AUV）的水动力参数。在这项研究中，从车载摄像机的角度看并使用Open Graphics Library（OpenGL）创建的激光图像被用于验证LSHPI的可行性。对于每个解耦的一维（1D）运动，研究了通过基于激光图像的方法获得的AUV位置和欧拉角的精度，并评估了其他运动干扰对获得的AUV位置或欧拉角的精度的影响。此外，研究了在不同运动扰动下，由LSHPI获得的与喘振有关的流体动力学参数的准确性。基于不同运动干扰下的流体动力学参数辨识结果，成功验证了LSHPI的可行性。

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