摘要
惯性导航系统可以提供水下机器人(remotely operatedvehicle,ROV)的位置和航向信息等,对水下机器人定位及控制至关重要。ROV的惯导系统以纯惯性导航为主,通过陀螺仪与加速度计等传感器,获取机器人的姿态角及加速度信息,并通过积分计算得到机器人的位置信息。然而,积分计算会使得误差随时间累积增加,因此纯惯性导航系统往往会辅以各式的航距或声学定位手段,以得到准确的位置信息。现有的组合方式包含声学、光学和视觉-惯性等多种方式,未来水下机器人的惯导技术将会向何种方向发展,是值得研究的问题。本文从组合方式及组合算法角度切入,分析了目前水下惯导组合与修正算法,指出了当前ROV惯导系统的高精度、多源融合和智能化的发展方向,同时列举了ROV惯导系统应用于工业领域需克服的低精度及鲁棒性等问题。
The inertial navigation system(INS)provides vital location and heading information for remotely operated vehicles(ROVs),which is crucial for ROV navigation and control.The ROV's inertial navigation system mainly relies on pure inertial navigation,leveraging sensors such as gyroscopes and accelerometers to obtain information about the robot's attitude angle and acceleration.The position information is then determined through integral computation.However,due to the accumulative error over time induced by integral computation,pure inertial navigation systems often deploy various ranging or acoustic positioning approaches to yield accurate position information.Diverse combination navigation methods including acoustics,optics,and vision-inertial among others have been employed to date.The focus of future developments in the inertial navigation technology for ROVs is an area of considerable interest and research.From the perspectives of combination methodologies and algorithms,this paper scrutinizes the prevailing tactics for combining and correcting underwater inertial navigation.It highlights the ongoing trend towards developing high-precision,multi-source integrated,and intelligent ROV inertial navigation systems,and enumerates challenges such as addressing low-precision and robustness issues in the application of ROV INS in the industrial domain.
作者
赖昱
朱俊
LAI Yu;ZHU Jun(CRRC SMD(Shanghai)Ltd.,Shanghai 201306,China)
出处
《控制与信息技术》
2023年第6期9-15,共7页
CONTROL AND INFORMATION TECHNOLOGY
基金
国家重点研发计划项目(2022YFC2806901)。
关键词
水下机器人
惯导系统
组合导航
误差修正算法
定位
remotely operated vehicles(ROVs)
inertia navigation system(INS)
combination navigation
error correction algorithm
fixing position
