| 基于超短基线的缆控水下机器人动力定位 |
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| 引用本文： | 黄俊峰,邢志伟,李一平.基于超短基线的缆控水下机器人动力定位[J].控制工程,2002,9(6):75-78. |
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| 作者姓名： | 黄俊峰 邢志伟 李一平 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所,辽宁,沈阳,110016;中国科学院,研究生院,北京,100080
2. 中国科学院沈阳自动化研究所,辽宁,沈阳,110016 |
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| 摘 要： | 动力定位 (DynamicPositioning(DP) )技术是水下机器人的关键技术之一。因此针对当前动力定位主要在缆控水下机器人 (ROV)中应用的情况 ,给出了ROV动力定位技术的实施方法。通过声学定位技术确定ROV的坐标 ,计算出与期望位姿的差 ,将其作为神经网络控制器的输入量来控制ROV ,从而进行动力定位。同时还重点研究了ROV动力定位中的主要研究内容即水声定位技术和定位控制技术的构建。
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| 关 键 词： | 缆控水下机器人(ROV) 动力定位 超短基线 |
| 文章编号： | 1671-7848(2002)06-0075-04 |
| 修稿时间： | 2002年4月18日 |
Remote Operated Vehicle(ROV) Dynamic Positioning Based on USBL (Ultra Short Base Line) |
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| HUANG Jun-feng ,XING Zhi-wei ,LI Yi-ping WTBZ.Shenyang Automation Institute,Chinese Academy of Science,Shenyang ,China, .Graduate School of the Chinese Academy of Science,Beijng ,ChinaWT.Remote Operated Vehicle(ROV) Dynamic Positioning Based on USBL (Ultra Short Base Line)[J].Control Engineering of China,2002,9(6):75-78. |
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| Authors: | HUANG Jun-feng XING Zhi-wei LI Yi-ping [WTBZShenyang Automation Institute Chinese Academy of Science Shenyang China Graduate School of the Chinese Academy of Science Beijng China[WT] |
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| Affiliation: | HUANG Jun-feng 1,2,XING Zhi-wei 1,2,LI Yi-ping 1 [WT6BZ1.Shenyang Automation Institute,Chinese Academy of Science,Shenyang 110016,China, 2.Graduate School of the Chinese Academy of Science,Beijng 100080,China)[WT] |
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| Abstract: | Dynamic Positioning is a key technology in Underwater Robot research field. Today,Dynamic Positioning is used most widely in Remote Operated Vehicle(ROV) . In this thesis ,the whole method of building the ROV Dynamic Positioning System is given. At first utilizing Acoustic Positioning Technology-(USBL)to get the Coordinate of ROV; then calculating its difference from the required ROV position and gesture; at last utilizing Neural Net Controller for Dynamic Positioning. The focus is on the main research points of ROV Dynamic Positioning field: Acoustic Positioning Technology and Positioning control Technology. |
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| Keywords: | ROV Dynamic Positioning(DP) Ultra Short Base Line(USBL) |
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