高纬度自主水下机器人组合导航方法研究

发布时间：2018-08-07 19:35

【摘要】：自主水下机器人作为研究极区海洋环境、水文特征、地球气候,勘探极区海洋自然资源,极区海底作业的重要高技术工具之一,越来越受到世界各国的重视。随着极区的发展,自主水下机器人将会有更广阔的应用背景,而导航技术是极区自主水下机器人发展的关键技术之一。通过高精度的导航技术,自主水下机器人可以实现高精度作业。但是由于海洋环境复杂,对导航传感器产生未知的影响,单一的导航系统难以满足导航需求,从而影响自主水下机器人的自主性、可靠性,削弱了其抗干扰的能力。因此,组合导航系统是导航技术的首选,使自主水下机器人具有强大的抗干扰能力,高可靠性。适应性强的高精度非线性滤波算法是组合导航系统的关键。此外由于纬度高的特殊原因,极区组合导航系统也需要嵌入与低纬度组合导航系统不同的导航方法。本文围绕自主水下机器人极区导航问题展开了研究。首先根据课题研究背景及意义研究了国内外研究现状并提出与导航有关的问题,研究了现有的导航技术,研究了高纬度地区导航存在的问题,并从技术层面提出改进。然后设计了非近极点高纬度组合导航系统和近极点组合导航系统,详细介绍了适合高纬度组合导航系统的传感器,研究了航位推算算法,研究了无色卡尔曼滤波算法和平方根无色卡尔曼滤波算法。再次详细研究了传统长基线声学定位系统,其中包括单应答器测向原理、单应答器定位算法、双应答器定位算法、三个及三个以上应答器定位算法,并在此基础之上提出一些适合极点附近通过声学确定航向的算法,其中包括基于多水听器多应答器的航向确定算法、基于单水听器单应答器的航向确定算法、基于单水听器双应答器的航向确定算法、基于双水听器单应答器的航向确定算法。最后对提出的极点附近通过声学确定航向的算法进行实验验证,实验结果表明基于多水听器多应答器的航向确定算法能够满足航向精度1o,适合低航速情况,基于单水听器单应答器的航向确定算法能够满足快速逼近理想航向,适合高航速情况,基于单水听器双应答器的航向确定算法在UKF滤波的前提下能够使航向在理想航向左右摇摆更均匀,适合于低航速情况,基于双水听器单应答器的航向确定算法使自主水下机器人以螺旋线的航迹逼近应答器,适合高航速情况;并利用真实实验数据对航位推算算法和滤波算法进行了实验验证。
[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.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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