AUV自主导航航位推算算法的研究.PDF

27 2 机器人 ROBO T Vo.l 27, No. 2 2005 3 M arch, 2005 : 2005) * AUV 1, 2 1 1 冯子龙 , 刘健 , 刘开周 ( 1. , 110016; 2. , 100039) : AUV (Autono ousUnderwater Vehicle), ., AUV ,., AUV ,. : ; ; ; AUV : TP24 : B Dead Reckoning M ethod for A utonomous N avigation of Autonom ous Underwater V ehicles 1, 2 1 1 FENG Zilong , LIU Jian, LIU Kaizhou ( 1. S henyang Institute of A utom ation, ChineseA cademy of S ciences, S henyang 110016, China; 2. Graduate School of the Ch ineseA cademy of Sc iences, B eij ing 100039, China) Abstract: The dead reckoning ethod of autono ous navigation ofAUV ( autono ous underwatervehicle) is studied to i prove the perfor ance of the navigation syste . A test is ade on this ethod with the data fro the lake test ofAUV, and the results de onstrate that the navigation precision is evidently i proved. Hence, this developed ethod can be ap plied to revise the original ethod for autono ous navigation ofAUV. K eyword s: recursive least square filtering with forgetting factor; leastsquare identification; autono ous navigation; AUV 1 Introduction) , GPS , : INS( , )GPS(). INS ., GPS , AUV ; . AUV , ,, . : AUV , . ; 70 GPS,