摘要
在基于一定假设的条件下,建立了计算GPS天线流体动力的数学模型,并建立了GPS天线升出后对GPS导航定位精度影响的数学模型。对鱼雷形AUV通过GPS天线实现导航定位的典型操纵运动进行了仿真研究。结果显示,天线升出后对AUV的操纵性有明显的影响,但对GPS导航精度的影响很小,说明鱼雷形AUV仍然可以通过操纵运动稳定的完成在近水面的导航定位运动。
The model for calculating the forces of GPS antenna was built based on certain hypothesis, including the mathematics model of resistance, lift forces, added mass forces and wave forces. And the model of navigation precision was also built. Then the simulations were carried out for the torpedo-like AUV’s representative navigation motion through the GPS antenna. The simulation results show that the GPS antenna will obviously effect the maneuverability motion of the AUV, but the effect of navigation precision is neglectable, and the torpedo-like AUV can steadily complete the navigate motion.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第22期6106-6108,6113,共4页
Journal of System Simulation
关键词
操纵性
自主水下航行器
GPS天线
导航
maneuverability,autonomous underwater vehicle （AUV）,GPS antenna,navigation
