北斗卫星导航系统在AUV中的应用研究

Study on the Application of BeiDou Satellite Navigation in AUV

  • 摘要: 分析了自主式水下无人潜水器(AUV)在工作时应用的不同导航定位技术的特点与优势,介绍了北斗导航系统以及基于北斗导航系统的AUV基本定位原理。对应用北斗导航系统的AUV机械结构模块化设计的四个模块进行了较详尽的阐述,对AUV导航控制段的控制流程逻辑以及基于此逻辑的硬件系统进行了设计与搭建。通过应用北斗导航系统的AUV平台验证,从自主定向巡航和自主定速巡航来看,运行平稳,与期望值基本一致。

     

    Abstract: This paper analyzes the characteristics and advantages of different navigation and positioning technologies applied by AUV at work, introduces BeiDou navigation system and the AUV positioning principle based on BeiDou navigation system. On the application of BeiDou navigation system of AUV mechanical structure modular design of the four modules to carry on the detailed elaboration, logical process for the control of the AUV navigation control section and based on the logic of the hardware system design and build complete. The AUV platform of BeiDou navigation system is verified, and the operation is stable and consistent with the expected value from the self-directed cruise and autonomous cruise verification structure. With the continuous upgrading and upgrading of BeiDou navigation system, the application of BeiDou satellite navigation system in AUV will become more and more common.

     

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