CN103968830B - 一种uuv近水面跟踪母船航行时的多途导引装置及方法 - Google Patents
一种uuv近水面跟踪母船航行时的多途导引装置及方法 Download PDFInfo
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- CN103968830B CN103968830B CN201410201315.2A CN201410201315A CN103968830B CN 103968830 B CN103968830 B CN 103968830B CN 201410201315 A CN201410201315 A CN 201410201315A CN 103968830 B CN103968830 B CN 103968830B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000001360 synchronised effect Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 239000011159 matrix material Substances 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 81
- 230000006854 communication Effects 0.000 claims description 80
- 230000001537 neural effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000002123 temporal effect Effects 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 4
- 238000012549 training Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 15
- 230000008447 perception Effects 0.000 abstract description 7
- 238000013459 approach Methods 0.000 description 7
- 238000012360 testing method Methods 0.000 description 7
- 230000000875 corresponding effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
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CN201410201315.2A CN103968830B (zh) | 2014-05-14 | 2014-05-14 | 一种uuv近水面跟踪母船航行时的多途导引装置及方法 |
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CN201410201315.2A CN103968830B (zh) | 2014-05-14 | 2014-05-14 | 一种uuv近水面跟踪母船航行时的多途导引装置及方法 |
Publications (2)
Publication Number | Publication Date |
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CN103968830A CN103968830A (zh) | 2014-08-06 |
CN103968830B true CN103968830B (zh) | 2015-12-02 |
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CN201410201315.2A Active CN103968830B (zh) | 2014-05-14 | 2014-05-14 | 一种uuv近水面跟踪母船航行时的多途导引装置及方法 |
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Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105758405B (zh) * | 2016-03-14 | 2018-09-21 | 哈尔滨工程大学 | 一种适用于高海况的uuv跟踪母船航迹规划方法 |
CN106027188A (zh) * | 2016-05-12 | 2016-10-12 | 哈尔滨工程大学 | 一种补偿水声通信时延的uuv分布式控制***时间对准方法 |
CN107168312B (zh) * | 2017-05-17 | 2019-12-06 | 哈尔滨工程大学 | 一种补偿uuv运动学和动力学干扰的空间轨迹跟踪控制方法 |
CN107830860B (zh) * | 2017-10-31 | 2019-09-27 | 江苏科技大学 | 一种无人艇起吊回收视觉引导方法 |
CN107902053A (zh) * | 2017-12-13 | 2018-04-13 | 常熟市电子仪器厂 | 进坞光学引导装置 |
CN108471328A (zh) * | 2018-01-31 | 2018-08-31 | 湖北大学 | 声光融合的水下通信链路建立机制与方法 |
CN109116360B (zh) * | 2018-08-03 | 2019-06-28 | 国家深海基地管理中心 | 一种深海实时高精度定位方法及*** |
CN111290413A (zh) * | 2018-12-07 | 2020-06-16 | 中国科学院沈阳自动化研究所 | 一种自主水下机器人水面监控***及方法 |
CN113342015A (zh) * | 2021-06-15 | 2021-09-03 | 哈尔滨工程大学 | 一种分布式海域跨介质异构***一致性编队方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1779485A (zh) * | 2004-11-17 | 2006-05-31 | 中国科学院沈阳自动化研究所 | 载人潜水器的组合导航定位方法 |
CN101408772A (zh) * | 2008-11-21 | 2009-04-15 | 哈尔滨工程大学 | Auv智能避碰装置及避碰方法 |
CN102975833A (zh) * | 2012-12-10 | 2013-03-20 | 上海大学 | 用于水下目标探测与处置的遥操作无人潜水器 |
CN103033817A (zh) * | 2012-11-25 | 2013-04-10 | 中国船舶重工集团公司第七一○研究所 | 大型auv避碰用障碍物自主识别*** |
EP2682782A1 (en) * | 2012-07-05 | 2014-01-08 | Roke Manor Research Limited | Sensor location method and system |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102446367B (zh) * | 2011-09-19 | 2013-03-13 | 哈尔滨工程大学 | 基于多波束声纳海底测量数据构建三维地形矢量模型的方法 |
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2014
- 2014-05-14 CN CN201410201315.2A patent/CN103968830B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1779485A (zh) * | 2004-11-17 | 2006-05-31 | 中国科学院沈阳自动化研究所 | 载人潜水器的组合导航定位方法 |
CN101408772A (zh) * | 2008-11-21 | 2009-04-15 | 哈尔滨工程大学 | Auv智能避碰装置及避碰方法 |
EP2682782A1 (en) * | 2012-07-05 | 2014-01-08 | Roke Manor Research Limited | Sensor location method and system |
CN103033817A (zh) * | 2012-11-25 | 2013-04-10 | 中国船舶重工集团公司第七一○研究所 | 大型auv避碰用障碍物自主识别*** |
CN102975833A (zh) * | 2012-12-10 | 2013-03-20 | 上海大学 | 用于水下目标探测与处置的遥操作无人潜水器 |
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Effective date of registration: 20190517 Address after: 150001 15/F Ship Building, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Co-patentee after: Xia Guoqing Patentee after: Yan Zheping Co-patentee after: Zhang Honghan Co-patentee after: Chen Tao Co-patentee after: Zhou Jiajia Co-patentee after: Liu Xiangbo Co-patentee after: Liu Jianxu Co-patentee after: Wang Yuanhui Co-patentee after: Chen Xinghua Co-patentee after: Wang Chenglong Co-patentee after: Bian Qin Co-patentee after: Tang Zhaodong Co-patentee after: Wang Hongjian Co-patentee after: Xia Guoqing Wang Hongjian Ding Fuguang Fu Ming Yulin Xiaogong Xu Jian Zhangwei Li Juan Zhangxun Zhang Honghan Chen Tao Zhou Jiaga Liu Xiangbo Liu Jiaxu Wang Yuan Hui Chen Xinghua Wang Chenglong Benqin Tangzhao East Harbin Engineering University Science Park Development Co., Ltd. Co-patentee after: Ding Fuguang Co-patentee after: Fu Mingyu Co-patentee after: Lin Xiaogong Co-patentee after: Xu Jian Co-patentee after: Zhang Wei Co-patentee after: Li Juan Co-patentee after: Zhang Xun Address before: 150001 15/F Ship Building, No. 258 Nantong Street, Nangang District, Harbin City, Heilongjiang Province Co-patentee before: Yan Zheping Patentee before: Bian Qin Co-patentee before: Xia Guoqing Co-patentee before: Harbin Engineering University Science Park Development Co., Ltd. |
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Effective date of registration: 20190822 Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee after: Harbin Shipboard Intelligent Technology Partnership (Limited Partnership) Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee before: Xia Guoqing Patentee before: Yan Zheping Co-patentee before: Zhang Honghan Co-patentee before: Chen Tao Co-patentee before: Zhou Jiajia Co-patentee before: Liu Xiangbo Co-patentee before: Liu Jianxu Co-patentee before: Wang Yuanhui Co-patentee before: Chen Xinghua Co-patentee before: Wang Chenglong Co-patentee before: Bian Qin Co-patentee before: Tang Zhaodong Co-patentee before: Wang Hongjian Co-patentee before: Xia Guoqing Wang Hongjian Ding Fuguang Fu Ming Yulin Xiaogong Xu Jian Zhangwei Li Juan Zhangxun Zhang Honghan Chen Tao Zhou Jiaga Liu Xiangbo Liu Jiaxu Wang Yuan Hui Chen Xinghua Wang Chenglong Benqin Tangzhao East Harbin Engineering University Science Park Development Co., Ltd. Co-patentee before: Ding Fuguang Co-patentee before: Fu Mingyu Co-patentee before: Lin Xiaogong Co-patentee before: Xu Jian Co-patentee before: Zhang Wei Co-patentee before: Li Juan Co-patentee before: Zhang Xun |
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Effective date of registration: 20190924 Address after: Room 801, 1st floor, 8th building, Science and Technology Innovation Industrial Park, Songbei District, Harbin City, Heilongjiang Province, No. 3043, Zhigu Second Street, Songbei District, Shenzhen Patentee after: Harbin ship Intelligent Equipment Technology Co., Ltd. Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee before: Harbin Shipboard Intelligent Technology Partnership (Limited Partnership) Patentee before: Science Park Development Co., Ltd. of Harbin Engineering University |
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