An Underwater Integrated Navigation Method for Small Autonomous Surface and Underwater Vehicle
文献类型：会议论文
| 作者 | Ji DX(冀大雄)1,2,3,8,9; Zhou, Shuai1,2,3,9; Zhai, Yangyang1,2,3,9; Ye, Zhangying4; Liu TJ(刘铁军)5 ; Liu, Shuo6,7
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| 出版日期 | 2021 |
| 会议日期 | September 11-11, 2021 |
| 会议地点 | Beijing, China |
| 页码 | 110-116 |
| 英文摘要 | In order to realize low-cost operation in narrow and small waters, a new type of small autonomous surface and underwater vehicle (S-ASUV) is proposed, which has four vertical propellers controlling attitude and two horizontal propellers controlling position. The kinematic and dynamic models of S-ASUV are established, and the thrust coefficient of the models is corrected by global positioning system (GPS) position calibration. An underwater navigation fusion algorithm aided by the thrust correction dynamic model is proposed. The underwater GPS navigation experiment was carried out by using the S-ASUV prototype, and the underwater integrated navigation algorithm under GPS outliers was simulated offline using the track data collected from the field experiment. The results show that the thrust correction dynamic model aided underwater navigation method can effectively improve the accuracy of underwater navigation. |
| 产权排序 | 7 |
| 会议录 | Proceedings of the 3rd WRC Symposium on Advanced Robotics and Automation 2021
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-1823-2 |
| 源URL | [http://ir.sia.cn/handle/173321/29949]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Ji DX(冀大雄) |
| 作者单位 | 1.Shenzhen Research Institute of Zhejiang University, Shenzhen 518057, China 2.. The Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province, Zhoushan 316000, China 3.The Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan 316000, China 4.College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, 310000, China 5.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (SIACAS), Shenyang 110000, China 6.The Second Institute of Oceanography (SIO), the Ministry of Natural Resources (MNR), Hangzhou 310012, China 7.Hainan Institute of Zhejiang University, Sanya 572000, China 8.Ocean College, Zhejiang University, Zhoushan 316000, China 9.The Institute of Marine Electronic and Intelligent System, Ocean College, Zhejiang University, Zhoushan 316000, China. |
| 推荐引用方式 GB/T 7714 | Ji DX,Zhou, Shuai,Zhai, Yangyang,et al. An Underwater Integrated Navigation Method for Small Autonomous Surface and Underwater Vehicle[C]. 见:. Beijing, China. September 11-11, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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