The construction and shape of UUVs are described in the paper. UUV design is the shape of the overall design of unmanned underwater vehicle should first be resolved UUV underwater vehicle directly affects the shape of...The construction and shape of UUVs are described in the paper. UUV design is the shape of the overall design of unmanned underwater vehicle should first be resolved UUV underwater vehicle directly affects the shape of the resistance and noise, which is related to energy, payload, maneuverability and concealment UUV problem The main characteristic and parameter tables for foreign torpedo shape, fiat shape and anomalous shape are also given in the paper. The general layout of typical foreign UUVs is analyzed in detail. And the total layout figure and interior constructive figure are introduced. Torpedo-type because of its good water power and low noise, no one has been the main form of underwater vehicle-like, and many designers are now highly favored because of its stable performance, anti-environmental interference capability. Other irregular shapes designed primarily for the completion of a specific task, according to the specific environment and mission requirements. According to comparing and summarizing, some suggestions and conclusions are oresented.展开更多
The authors proposed a moving long baseline algorithm based on the extended Kalman filter （EKF） for cooperative navigation and localization of multi-unmanned underwater vehicles （UUVs）. Research on cooperative nav...The authors proposed a moving long baseline algorithm based on the extended Kalman filter （EKF） for cooperative navigation and localization of multi-unmanned underwater vehicles （UUVs）. Research on cooperative navigation and localization for multi-UUVs is important to solve navigation problems that restrict long and deep excursions. The authors investigated improvements in navigation accuracy. In the moving long base line （MLBL） structure, the master UUV is equipped with a high precision navigation system as a node of the moving long baseline, and the slave UUV is equipped with a low precision navigation system. They are both equipped with acoustic devices to measure relative location. Using traditional triangulation methods to calculate the position of the slave UUV may cause a faulty solution. An EKF was designed to solve this, combining the proprioceptive and exteroceptive sensors. Research results proved that the navigational accuracy is improved significantly with the MLBL method based on EKF.展开更多
文摘The construction and shape of UUVs are described in the paper. UUV design is the shape of the overall design of unmanned underwater vehicle should first be resolved UUV underwater vehicle directly affects the shape of the resistance and noise, which is related to energy, payload, maneuverability and concealment UUV problem The main characteristic and parameter tables for foreign torpedo shape, fiat shape and anomalous shape are also given in the paper. The general layout of typical foreign UUVs is analyzed in detail. And the total layout figure and interior constructive figure are introduced. Torpedo-type because of its good water power and low noise, no one has been the main form of underwater vehicle-like, and many designers are now highly favored because of its stable performance, anti-environmental interference capability. Other irregular shapes designed primarily for the completion of a specific task, according to the specific environment and mission requirements. According to comparing and summarizing, some suggestions and conclusions are oresented.
基金Supported by the National Natural Science Foundation of China under Grant No.60875071the High Technology Research and Development Program of China under Grant No.2007AA0676the Program for New Century Excellent Talents in University under Grant No.NCET-06-0877
文摘The authors proposed a moving long baseline algorithm based on the extended Kalman filter （EKF） for cooperative navigation and localization of multi-unmanned underwater vehicles （UUVs）. Research on cooperative navigation and localization for multi-UUVs is important to solve navigation problems that restrict long and deep excursions. The authors investigated improvements in navigation accuracy. In the moving long base line （MLBL） structure, the master UUV is equipped with a high precision navigation system as a node of the moving long baseline, and the slave UUV is equipped with a low precision navigation system. They are both equipped with acoustic devices to measure relative location. Using traditional triangulation methods to calculate the position of the slave UUV may cause a faulty solution. An EKF was designed to solve this, combining the proprioceptive and exteroceptive sensors. Research results proved that the navigational accuracy is improved significantly with the MLBL method based on EKF.
