【摘要】：自主水下機器人作為研究極區(qū)海洋環(huán)境、水文特征、地球氣候,勘探極區(qū)海洋自然資源,極區(qū)海底作業(yè)的重要高技術工具之一,越來越受到世界各國的重視。隨著極區(qū)的發(fā)展,自主水下機器人將會有更廣闊的應用背景,而導航技術是極區(qū)自主水下機器人發(fā)展的關鍵技術之一。通過高精度的導航技術,自主水下機器人可以實現(xiàn)高精度作業(yè)。但是由于海洋環(huán)境復雜,對導航傳感器產(chǎn)生未知的影響,單一的導航系統(tǒng)難以滿足導航需求,從而影響自主水下機器人的自主性、可靠性,削弱了其抗干擾的能力。因此,組合導航系統(tǒng)是導航技術的首選,使自主水下機器人具有強大的抗干擾能力,高可靠性。適應性強的高精度非線性濾波算法是組合導航系統(tǒng)的關鍵。此外由于緯度高的特殊原因,極區(qū)組合導航系統(tǒng)也需要嵌入與低緯度組合導航系統(tǒng)不同的導航方法。本文圍繞自主水下機器人極區(qū)導航問題展開了研究。首先根據(jù)課題研究背景及意義研究了國內(nèi)外研究現(xiàn)狀并提出與導航有關的問題,研究了現(xiàn)有的導航技術,研究了高緯度地區(qū)導航存在的問題,并從技術層面提出改進。然后設計了非近極點高緯度組合導航系統(tǒng)和近極點組合導航系統(tǒng),詳細介紹了適合高緯度組合導航系統(tǒng)的傳感器,研究了航位推算算法,研究了無色卡爾曼濾波算法和平方根無色卡爾曼濾波算法。再次詳細研究了傳統(tǒng)長基線聲學定位系統(tǒng),其中包括單應答器測向原理、單應答器定位算法、雙應答器定位算法、三個及三個以上應答器定位算法,并在此基礎之上提出一些適合極點附近通過聲學確定航向的算法,其中包括基于多水聽器多應答器的航向確定算法、基于單水聽器單應答器的航向確定算法、基于單水聽器雙應答器的航向確定算法、基于雙水聽器單應答器的航向確定算法。最后對提出的極點附近通過聲學確定航向的算法進行實驗驗證,實驗結果表明基于多水聽器多應答器的航向確定算法能夠滿足航向精度1o,適合低航速情況,基于單水聽器單應答器的航向確定算法能夠滿足快速逼近理想航向,適合高航速情況,基于單水聽器雙應答器的航向確定算法在UKF濾波的前提下能夠使航向在理想航向左右搖擺更均勻,適合于低航速情況,基于雙水聽器單應答器的航向確定算法使自主水下機器人以螺旋線的航跡逼近應答器,適合高航速情況;并利用真實實驗數(shù)據(jù)對航位推算算法和濾波算法進行了實驗驗證。
[Abstract]:Autonomous underwater vehicle (AUV) is one of the important high-tech tools to study the polar marine environment, hydrological characteristics, global climate, exploration of polar marine natural resources, and submarine operations in polar regions, and has been paid more and more attention to by the countries all over the world. With the development of polar region, autonomous underwater vehicle (AUV) will have a wider application background, and navigation technology is one of the key technologies in the development of AUV. Autonomous underwater vehicle (AUV) can achieve high precision operation through high precision navigation technology. However, because of the complex marine environment and unknown influence on the navigation sensor, the single navigation system is difficult to meet the navigation requirements, which affects the autonomy and reliability of the autonomous underwater vehicle and weakens its ability of anti-jamming. Therefore, integrated navigation system is the first choice of navigation technology, which makes AUV have strong anti-jamming ability and high reliability. Adaptive nonlinear filtering algorithm with high accuracy is the key of integrated navigation system. In addition, because of the special reason of high latitude, the polar integrated navigation system also needs to embed different navigation methods from the low latitude integrated navigation system. In this paper, the polar navigation of autonomous underwater vehicle (AUV) is studied. Firstly, according to the background and significance of the research, this paper studies the current research situation at home and abroad, puts forward the problems related to navigation, studies the existing navigation technology, studies the problems existing in the navigation in the high latitude area, and puts forward some improvements from the technical level. Then the non-near-pole high-latitude integrated navigation system and the near-pole integrated navigation system are designed. The sensors suitable for the high-latitude integrated navigation system are introduced in detail. Colorless Kalman filter algorithm and square root colorless Kalman filter algorithm are studied. The traditional long baseline acoustic positioning system is studied in detail, including single transponder direction finding principle, single transponder location algorithm, dual transponder location algorithm, three or more transponder location algorithms. On this basis, some algorithms are proposed to determine the course by acoustics in the vicinity of the pole, including the heading determination algorithm based on multi-hydrophone and multi-transponder, and the heading determination algorithm based on single-hydrophone and single-transponder. The course determination algorithm based on single hydrophone and double transponder, and the course determination algorithm based on double hydrophone and single transponder. Finally, the experimental results show that the heading determination algorithm based on multi-hydrophone and transponder can satisfy the heading accuracy of 1o. it is suitable for low speed. The heading determination algorithm based on single hydrophone and transponder can meet the requirements of fast approaching ideal course and high speed. The heading determination algorithm based on single hydrophone and double transponder can make the course swing more evenly in the ideal course with UKF filtering, and it is suitable for low speed case. The course determination algorithm based on double hydrophone single transponder makes the autonomous underwater vehicle approach the transponder with spiral track, which is suitable for high speed, and verifies the algorithm and filtering algorithm by using real experimental data.
【學位授予單位】：沈陽理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

【參考文獻】

相關期刊論文 前10條

1 李啟虎;王寧;趙進平;黃海寧;尹力;黃勇;李宇;薛山花;任新敏;李濤;;北極水聲學:一門引人關注的新型學科[J];應用聲學;2014年06期

2 朱啟舉;秦永元;周琪;;極區(qū)航空導航綜述[J];測控技術;2014年10期

3 劉文超;卞鴻巍;王榮穎;岳亞洲;;基于極球面投影的慣導高緯導航方法[J];華中科技大學學報(自然科學版);2014年08期

4 王榮穎;劉文超;卞鴻巍;蘇瑞祥;;慣導系統(tǒng)極區(qū)導航性能仿真分析[J];海軍工程大學學報;2014年03期

5 劉文超;卞鴻巍;王榮穎;岳亞洲;;慣性導航系統(tǒng)極區(qū)導航參數(shù)解算方法[J];上海交通大學學報;2014年04期

6 顧云濤;;無人機導航技術研究[J];現(xiàn)代導航;2013年03期

7 紀龍蟄;單慶曉;;GNSS全球衛(wèi)星導航系統(tǒng)發(fā)展概況及最新進展[J];全球定位系統(tǒng);2012年05期

8 何偉;廉保旺;馮曉明;;基于聯(lián)邦卡爾曼濾波的組合導航定位算法[J];火力與指揮控制;2012年08期

9 高德章;;大地坐標系與投影坐標系[J];物探化探計算技術;2011年01期

10 孫玉山;代天嬌;趙志平;;水下機器人航位推算導航系統(tǒng)及誤差分析[J];船舶工程;2010年05期

相關博士學位論文 前1條

1 蘭華林;深海水聲應答器定位導航技術研究[D];哈爾濱工程大學;2008年

相關碩士學位論文 前7條

1 陳沖;地磁輔助慣性導航系統(tǒng)研究[D];哈爾濱工業(yè)大學;2014年

2 趙開斌;基于航跡的單點應答器測距AUV組合導航定位技術研究[D];哈爾濱工程大學;2013年

3 司勝營;星光/慣性組合導航系統(tǒng)分析與研究[D];哈爾濱工業(yè)大學;2010年

4 于青;AUV捷聯(lián)式慣性導航系統(tǒng)研究[D];中國海洋大學;2008年

5 宋振華;水下機器人自主導航系統(tǒng)的研究[D];上海交通大學;2007年

6 潘峰;遠程AUV組合導航濾波算法研究[D];西北工業(yè)大學;2006年

7 遲筱東;BSL型導航設備優(yōu)化問題的研究[D];哈爾濱工程大學;2005年

，

本文編號：2171132