水下运载器小范围高精度组合导航系统研究

发布时间：2018-03-10 19:21

本文选题：水下运载器　切入点：自主作业　出处：《浙江大学》2016年硕士论文　论文类型：学位论文

【摘要】：目前水下作业任务一般采用载人运载器(HOV)和遥控水下运载器(ROV)完成。但HOV需要有复杂的生命保障系统,极大地提高了作业成本。而ROV在绕柱作业时,极易发生脐带缆缠绕事故；且在长距离沿缆作业时,需要母船跟随移动且具有一定的动力定位能力,也极大地提高了作业成本。因此水下运载器自主作业慢慢成为解决以上难题的研究热点。本课题针对自主作业中的导航技术进行研究,利用低成本的MEMS惯性测量单元、电子罗盘和模拟视觉传感器构成组合导航系统,采用异步失序修正型卡尔曼滤波,解决了多传感器的异步失序问题,成功研制出一个适用于自主作业时的高精度高频率的水下运载器组合导航系统。全文共分为六章：第一章,主要介绍了本课题的研究背景、水下运载器以及水下导航技术的研究现状。根据单一的水下导航技术的优缺点分析,提出本课题的研究意义与研究的主要内容。第二章,基于水下运载器自主作业的需求提出了组合导航系统方案,阐述了组合导航系统的工作原理和构成。并分别进行了捷联惯性导航系统的状态信息解算、融合中心设计以及传感器选型。第三章,针对水下运载器小范围高精度组合导航系统的融合问题,进行了融合模型的设计以及系统建模。并分别开展了基于实时信息和基于异步失序信息的融合算法研究,解决了多传感器的异步失序问题。第四章,针对水下视觉传感器开发周期长、成本高的问题,提出使用Passive Manipulator (PM)六自由度位置测量系统模拟水下视觉传感器。详细介绍了PM的设计过程以及位置信息解算过程。并通过试验,验证了所设计的PM系统,可以用于模拟常用的水下视觉传感器。第五章,进行了水下运载器小范围高精度组合导航系统实验研究,详细介绍了实验系统的搭建、电路部分设计以及控制程序设计。分别进行了静态姿态和位置组合导航实验以及动态位置组合导航实验,验证了本课题所设计的组合导航系统的综合性能的优越性。第六章,对研究课题的主要研究工作进行了总结,指出了课题的创新点。并针对课题的不足之处提出了进一步研究与提高的方向。
[Abstract]:At present, the underwater task is usually accomplished by the manned launch vehicle (Hov) and the remote-controlled underwater carrier (ROV). However, HOV requires a complex life support system, which greatly increases the operating cost. However, the ROV is prone to the cord winding accident when it is working around the column. And in the long distance along the cable operation, it is necessary for the mother ship to follow and move and have a certain dynamic positioning ability. Therefore, autonomous operation of underwater launch vehicle has gradually become a hot research topic to solve the above problems. This subject aims at the navigation technology in autonomous operation and makes use of the low-cost MEMS inertial measurement unit. The integrated navigation system is composed of electronic compass and analog vision sensor. The asynchronous out-of-order modified Kalman filter is used to solve the asynchronous disorder problem of multi-sensor. A high precision and high frequency integrated navigation system for underwater launch vehicle is successfully developed. The whole paper is divided into six chapters: chapter 1, the research background of this subject is introduced. The research status of underwater vehicle and underwater navigation technology. According to the advantages and disadvantages of a single underwater navigation technology, the research significance and main contents of this subject are put forward. Based on the requirement of autonomous operation of underwater launch vehicle, a scheme of integrated navigation system is put forward, the working principle and structure of integrated navigation system are expounded, and the state information of strapdown inertial navigation system is calculated respectively. Design of Fusion Center and selection of sensors. In Chapter 3, the fusion problem of small range and high precision integrated navigation system for underwater launch vehicle is discussed. The fusion model and system modeling are designed, and the fusion algorithms based on real-time information and asynchronous information are studied, which solves the asynchronous disorder problem of multi-sensor. Chapter 4th, Aiming at the problem of long development period and high cost of underwater vision sensor, a 6-DOF position measurement system with Passive Manipulator is proposed to simulate underwater vision sensor. The design process of PM and the calculation process of position information are introduced in detail. The design of PM system is verified, which can be used to simulate the commonly used underwater vision sensors. Chapter 5th, the experimental research on the small range and high precision integrated navigation system of underwater launch vehicle is carried out, and the construction of the experimental system is introduced in detail. Circuit design and control program design. Static attitude and position integrated navigation experiment and dynamic position integrated navigation experiment are carried out, which verify the superiority of the integrated navigation system designed in this paper. Chapter 6th, This paper summarizes the main research work of the research topic, points out the innovation points of the subject, and puts forward the direction of further research and improvement in view of the deficiency of the subject.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U674.941;U666.1

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