摘要
为了克服传统利用坐底自容式和水面船走航式ADCP测量水流方法的不足,研制了一套携带两台不同频ADCP的水流观测UUV系统。并针对UUV携带ADCP在水下测量水流时不能够实时接收到GPS信号,从而导致水流信息因缺失地理位置信息而变得不够准确和全面的问题,提出了一种UUV位置信息和水流数据融合的方法。首先采用多项式拟合和基于小波分解与重构方法对各数据源进行滤波处理,使水流数据的可信度提高;然后采用时间配准方式将舰位推算算法得到的UUV经纬度位置信息与观测的水流数据融合,得到了在大地坐标系下完整、准确的水流流场信息。此外,为了模拟出直观、形象的水流信息,采用插值与逼近相结合的方法实现了对水流流场的可视化表达。
To overcome the deficiency of traditional current measurement method using bottom supported and self-containing ADCP or underway ADCP mounted on ship,a set of UUV（Unmanned Underwater Vehicle） current observation system was developed,carries two ADCPs with different frequencies.Aiming at the problem that the UUV carrying ADCPs can not receive GPS signal while sailing under water,which leads to the measured current data neither precise nor comprehensive due to lacking geographical position information;a new method is presented to fuse UUV position information and current data.Firstly,polynomial fitting and wavelet decomposition and reconstruction based method are used to filter UUV data sources,which increases the credibility of the current data.Then through time registration,the UUV longitude and latitude position information acquired by dead-reckoning navigation algorithm and the observed current data are fused;and comprehensive and accurate current field information in geodetic coordinate system is obtained.In addition,in order to simulate intuitionistic and visual current information,a method combining interpolation and approximation is employed to realize the visualization of the current field.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2011年第1期57-62,共6页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(50979017)
黑龙江省博士后基金(LBH-Z09242)资助项目
关键词
UUV
水流观测
滤波
数据融合
可视化
unmanned underwater vehicle
current observation
filtering
data fusion
visualization
