水下探测机器人设计与定位导航方法研究
发布时间：2018-07-29 21:14
【摘要】：水下机器人技术研究,一直都是各个国家的重点研究项目,但主要研究方向大多都是针对海洋能源探测,针对内陆浅水湖泊探测的水下机器人研究却很少。然而对于内陆湖泊探测同样具有很高的研究价值,比如对水坝底部进行定期安全检查、湖底打捞以及湖底地形探测等,所以对适用于浅水区域控制的水下探测机器人研究具有很大的实用价值。本课题从硬件以及软件方面对水下探测机器人进行研究,并且对推进器控制模块进行了具体的设计,通过实验分析验证推进器控制效果。另外本文对水下探测机器人定位导航技术也做了一定的分析研究,并通过仿真验证在导航过程中所选三子样优化算法的正确性;最后对导航量测值进行卡尔曼滤波处理,通过仿真实验,验证所选组合导航方法的合理性。本文一共分为六章:第一章介绍水下机器人国内外的研究现状,分析水下机器人的未来发展趋势,并介绍了水下机器人的定位导航方法。根据水下机器人研制方面所遇到的技术性问题,提出自己的研究目的以及研究内容。第二章介绍水下探测机器人的总体设计方案,并从硬件以及软件方面对水下机器人进行详细的分析,在硬件结构上采用六推进器控制模式,另外根据开源MOOS系统结构,设计了水下探测机器人应用的软件控制系统。第三章介绍水下推进器的控制模块设计,通过控制模块设计方案对比,选择了通过6路PWM信号对电机进行调速控制,采用12路正反转使能信号驱动相应电机正反转的控制方式;另外从控制器的硬件以及软件部分进行设计,设计出能够正常控制推进器转速以及正反转的推进器控制模块第四章介绍捷联惯导系统的一些工作原理以及基本算法。建立了导航系统的位置、速度、姿态更新的数学模型,并对各种算法进行数学优化,并通过仿真验证所选优化算法的合理性。第五章介绍导航过程中可能出现的诸多误差,并对其进行详细的分析,另外对导航过程中所产生的误差进行误差建模,提出以电子罗盘与深度计结合捷联惯导系统构成组合导航系统的方法。最后量测值经过卡尔曼滤波处理,用以降低惯导系统的累积误差,提高导航的精度。第六章主要是对于本课题所做研究的总结,并对未来需要进行的更加深入的研究进行展望。
[Abstract]:Underwater vehicle technology research has been a key research project in various countries, but the main research direction is mostly focused on ocean energy exploration, but there is little research on underwater vehicle for inland shallow lake exploration. However, the exploration of inland lakes is also of great research value, such as periodic safety inspection of the bottom of the dam, bottom salvage and topography detection, etc. Therefore, the research of underwater detection robot suitable for shallow water area control has great practical value. In this paper, the hardware and software of the underwater detection vehicle are studied, and the thruster control module is designed in detail, and the control effect of the propeller is verified by the experimental analysis. In addition, the positioning and navigation technology of underwater detection vehicle is analyzed and studied in this paper, and the correctness of the algorithm is verified by simulation. Finally, the Kalman filter is used to deal with the navigation measurements. The rationality of the proposed integrated navigation method is verified by simulation experiments. This paper is divided into six chapters: the first chapter introduces the research situation of underwater vehicle at home and abroad, analyzes the future development trend of underwater vehicle, and introduces the positioning and navigation method of underwater vehicle. According to the technical problems encountered in the development of underwater vehicle, this paper puts forward its own research purpose and research contents. The second chapter introduces the overall design scheme of underwater detection vehicle, and analyzes the underwater vehicle in detail from hardware and software aspects, adopts six thrusters control mode in the hardware structure, in addition, according to the open source MOOS system structure, The software control system of underwater detection robot is designed. The third chapter introduces the control module design of underwater thruster. Through the comparison of the control module design scheme, we choose the control mode of motor speed regulation through 6 PWM signals, and use 12 positive and reverse turn signal to drive the corresponding motor forward and backward turn. In addition, the hardware and software of the controller are designed to design the thruster control module which can control the speed of the propeller normally and the forward and backward rotation. In chapter 4, some working principles and basic algorithms of the strapdown inertial navigation system are introduced. The mathematical model of the position, speed and attitude updating of the navigation system is established, and the mathematical optimization of various algorithms is carried out, and the rationality of the selected optimization algorithm is verified by simulation. The fifth chapter introduces the possible errors in the navigation process, and analyzes them in detail. In addition, the error model of the navigation process is carried out. An integrated navigation system based on electronic compass and depth meter combined with strapdown inertial navigation system is proposed. Finally, the measured values are processed by Kalman filter to reduce the cumulative error of inertial navigation system and improve the navigation accuracy. The sixth chapter is a summary of the research on this topic, and the future needs of more in-depth research prospects.
【学位授予单位】：扬州大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
，
本文编号：2154039
[Abstract]:Underwater vehicle technology research has been a key research project in various countries, but the main research direction is mostly focused on ocean energy exploration, but there is little research on underwater vehicle for inland shallow lake exploration. However, the exploration of inland lakes is also of great research value, such as periodic safety inspection of the bottom of the dam, bottom salvage and topography detection, etc. Therefore, the research of underwater detection robot suitable for shallow water area control has great practical value. In this paper, the hardware and software of the underwater detection vehicle are studied, and the thruster control module is designed in detail, and the control effect of the propeller is verified by the experimental analysis. In addition, the positioning and navigation technology of underwater detection vehicle is analyzed and studied in this paper, and the correctness of the algorithm is verified by simulation. Finally, the Kalman filter is used to deal with the navigation measurements. The rationality of the proposed integrated navigation method is verified by simulation experiments. This paper is divided into six chapters: the first chapter introduces the research situation of underwater vehicle at home and abroad, analyzes the future development trend of underwater vehicle, and introduces the positioning and navigation method of underwater vehicle. According to the technical problems encountered in the development of underwater vehicle, this paper puts forward its own research purpose and research contents. The second chapter introduces the overall design scheme of underwater detection vehicle, and analyzes the underwater vehicle in detail from hardware and software aspects, adopts six thrusters control mode in the hardware structure, in addition, according to the open source MOOS system structure, The software control system of underwater detection robot is designed. The third chapter introduces the control module design of underwater thruster. Through the comparison of the control module design scheme, we choose the control mode of motor speed regulation through 6 PWM signals, and use 12 positive and reverse turn signal to drive the corresponding motor forward and backward turn. In addition, the hardware and software of the controller are designed to design the thruster control module which can control the speed of the propeller normally and the forward and backward rotation. In chapter 4, some working principles and basic algorithms of the strapdown inertial navigation system are introduced. The mathematical model of the position, speed and attitude updating of the navigation system is established, and the mathematical optimization of various algorithms is carried out, and the rationality of the selected optimization algorithm is verified by simulation. The fifth chapter introduces the possible errors in the navigation process, and analyzes them in detail. In addition, the error model of the navigation process is carried out. An integrated navigation system based on electronic compass and depth meter combined with strapdown inertial navigation system is proposed. Finally, the measured values are processed by Kalman filter to reduce the cumulative error of inertial navigation system and improve the navigation accuracy. The sixth chapter is a summary of the research on this topic, and the future needs of more in-depth research prospects.
【学位授予单位】：扬州大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
，
本文编号：2154039
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