针对小型AUV对低成本、微小型、高性能导航系统的需求,提出了一种基于M EM S技术的IMU/DVL组合导航新方法。分析了低成本惯性导航系统的特点和误差模型,为有效提高系统的导航精度引入多普勒测速仪与微机械惯性测量单元相组合,并采用无...针对小型AUV对低成本、微小型、高性能导航系统的需求,提出了一种基于M EM S技术的IMU/DVL组合导航新方法。分析了低成本惯性导航系统的特点和误差模型,为有效提高系统的导航精度引入多普勒测速仪与微机械惯性测量单元相组合,并采用无迹卡尔曼滤波(UKF)算法设计组合导航系统的滤波器。仿真结果表明,基于UKF滤波的M EM S-IMU/DVL组合导航新方法具有较高的导航精度,且有效降低了系统成本,具有广阔的工程应用前景。展开更多
<span style="font-family:Verdana;">The microstructure of bacterial is an important reference to design underwater swimmers. Applying Buckingham Pi Theorem is a possible method to build a scaled model b...<span style="font-family:Verdana;">The microstructure of bacterial is an important reference to design underwater swimmers. Applying Buckingham Pi Theorem is a possible method to build a scaled model based on a theoretical flagellum designed with traditional Resistive Force Theory. By making a scaled model, the forward velocity could be obtained to verify the application feasibility of Buckingham Pi Theorem in such designs. The optimal value of the model’s pitch angle can be calculated with the traditional RFT as well as the forward velocity. Comparing the experimental results with the results of theoretical calculations, it is found that the experimental and calculated results are consistent, which means Buckingham Pi Theorem works well in such design of underwater swimmer.</span>展开更多
文摘针对小型AUV对低成本、微小型、高性能导航系统的需求,提出了一种基于M EM S技术的IMU/DVL组合导航新方法。分析了低成本惯性导航系统的特点和误差模型,为有效提高系统的导航精度引入多普勒测速仪与微机械惯性测量单元相组合,并采用无迹卡尔曼滤波(UKF)算法设计组合导航系统的滤波器。仿真结果表明,基于UKF滤波的M EM S-IMU/DVL组合导航新方法具有较高的导航精度,且有效降低了系统成本,具有广阔的工程应用前景。
文摘<span style="font-family:Verdana;">The microstructure of bacterial is an important reference to design underwater swimmers. Applying Buckingham Pi Theorem is a possible method to build a scaled model based on a theoretical flagellum designed with traditional Resistive Force Theory. By making a scaled model, the forward velocity could be obtained to verify the application feasibility of Buckingham Pi Theorem in such designs. The optimal value of the model’s pitch angle can be calculated with the traditional RFT as well as the forward velocity. Comparing the experimental results with the results of theoretical calculations, it is found that the experimental and calculated results are consistent, which means Buckingham Pi Theorem works well in such design of underwater swimmer.</span>
