摘要
姿态信息是自主导航的重要参数,现有高精度导航设备价格昂贵、体积大,因此小型化、低成本自主导航技术成为研究热点。受仿生学启发,文中构建了基于压力传感器阵列的自主水下航行器(AUV)姿态反演估计模型,将已知压强和姿态数据输入模型,训练出模型参数,从而利用压强数据反演估计姿态信息。按照轨迹、深度、速度等因素开展了多组试验,验证了所提方法的有效性。试验结果表明,利用基于压力传感器阵列的AUV姿态反演估计方法,其俯仰角误差小于2.069 9°,横滚角误差小于2.990 8°,且不存在累积误差,在自主导航系统中具有较高应用潜力。
Attitude is an essential parameter in autonomous navigation.Existing high-precision navigation sensors areexpensive and large.Therefore,miniaturized and low-cost autonomous navigation technologies have become the researchfocus.Inspired by biomimetics,an inversion estimation model of autonomous undersea vehicle(AUV)attitude based on apressure sensor array was constructed.The model takes known pressure and attitude data as input and trains the modelparameters to use the pressure data to invert attitude information.The effectiveness of the proposed method was verifiedthrough multiple experiments with different trajectories,depths,speeds,and other factors.The experimental results show thatusing the proposed method,the estimated pitch angle error is below 2.0699°,and the estimated roll angle error is below2.9908°.Furthermore,there are no cumulative attitude errors;this,implies that the proposed method has strong potential forapplications in autonomous navigation systems.
作者
王重阳
于化鹏
李子圆
赵德鑫
WANG Chongyang;YU Huapeng;LI Ziyuan;ZHAO Dexin(National Innovation Institute of Defense Technology,Academy of Military Science,Beijing 100071,China;Science and Technology on Underwater Vehicle Laboratory,Harbin Engineering University,Harbin 150001,China)
出处
《水下无人系统学报》
2023年第2期229-236,共8页
Journal of Unmanned Undersea Systems
基金
国家自然科学基金青年科学基金项目资助(61803381)。
关键词
自主水下航行器
自主导航
压力传感器阵列
姿态反演估计
autonomous undersea vehicle
autonomous navigation
pressure sensor array
attitude inversion estimation
