摘要
GPS/Dead-reckoning navigation system for autonomous underwater vehicle (AUV) is introduced, which includes navigation overall architecture, hardware and software structure. Dead-reckoning theory is presented in details. And the strong tracking Kalman filter and Singer model are applied to handle the imprecise navigation mode, which can improve the navigation system’s precision and reliability. Finally, the sea experiments which include autonomous search mission in an unknown area and long distance motion are conducted to demonstrate the reliability and feasibility of the navigation system.
作者简介
PANG Yong-jie received M.S. degree in hydromechanics from the College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China, in1987. He is a professor in Harbin Engineering University. He has published approximately 30 papers. His research interests are in design of underwater vehicle and simulation.SUN Yu-shan received the M.S. degree in design and building of ship and ocean structure from College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China, in 2005. He is currently working for Ph.D. degree in the College of Shipbuilding Engineering, Harbin Engineering University. His research interests are in the navigation and control system structure of AUV.GAN Yong received B.E. and M.S. degree in shipping and ocean engineering, design and building of ship and ocean structure from College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China, in 2001, 2004 respectively. He is currently working fbr Ph.D. degree in the College of Shipbuilding Engineering, Harbin Engineering University. His research focuses on the control system structure of AUV.WAN Lei received M.S. degree in automation control from College of Automation, Harbin Engineering University, Harbin, China, in 1992. He is a professor in Harbin Engineering University. And he has published approximately 20 papers. His main research fields： motion control and navigation of underwater vehicles etc.
