作　　者： ; ; ;

机构地区： 中国科学院沈阳自动化研究所机器人学国家重点实验室

出　　处： 《机器人》 2011年第4期509-512,共4页

摘　　要： 针对北极高纬度和科学考察中长期冰站对海冰在一定范围内连续重复观测的需求,设计了面向冰下环境的自治/遥控水下机器人("北极ARV")导航定位系统.提出基于海冰运动修正的水下机器人自主导航方法,通过定时引入海冰运动信息,实时准确获取水下机器人相对于海冰的位置信息,这不仅提高了观测数据的实际应用价值,还提高了冰下作业的安全性.仿真试验和北极冰下应用证明这一导航系统具有精度高、稳定性好等优点. Aimed at the environment of the high latitude and the demand of repeat certain range observation by long-term ice station in Arctic science exploration,a navigation and positioning system of autonomous remotely operated underwater vehicle（named＂Arctic ARV＂） is developed for the environment under sea ice.An independent navigation method is put forward based on the correction of the sea ice motion.The real-time accurate position relative to the sea ice is obtained by compensating the information of the sea ice motion at the interval.It enhances not only the application value of the observation data,but also the working security under the sea ice.The navigation system is proved highly accurate and stable by the simulation research and the application under the Arctic ice.

关 键 词： 水下机器人 自治 遥控水下机器人 冰下导航 海冰运动修正

领　　域： [自动化与计算机技术] [自动化与计算机技术]