| 声学理论在超短基线跟踪自治水下机器人中的应用 |
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| 引用本文： | 冀大雄,刘健,郑荣.声学理论在超短基线跟踪自治水下机器人中的应用[J].应用声学,2012,31(4):267-271. |
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| 作者姓名： | 冀大雄 刘健 郑荣 |
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| 作者单位： | 中国科学院沈阳自动化研究所机器人学国家重点实验室 |
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| 基金项目： | 辽宁省自然科学基金(No.2232) |
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| 摘 要： | 对超短基线定位系统的有效跟踪范围问题进行了研究,将射线声学基本理论和声纳方程相结合,提出一种确定超短基线定位系统在试验现场跟踪范围的有效方法。利用射线方程确定跟踪范围的上边界;利用声纳方程确定跟踪范围的下边界,上、下两个边界所围区域确定有效跟踪范围。湖上和海上试验证明了方法的有效性,提高了超短基线定位系统跟踪自治水下机器人自动航行的安全性和可靠性。。
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| 关 键 词： | 超短基线定位系统 跟踪 水下机器人 射线方程 声纳方程 |
| 收稿时间： | 2012/3/13 0:00:00 |
Acoustic theory application in the track of underwater robots using ultra-short baseline system |
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| JI Daxiong,LIU Jian and ZHENG Rong.Acoustic theory application in the track of underwater robots using ultra-short baseline system[J].Applied Acoustics,2012,31(4):267-271. |
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| Authors: | JI Daxiong LIU Jian and ZHENG Rong |
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| Institution: | (State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016) |
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| Abstract: | The effective tracking bound of ultra-short baseline (USBL) system is studied with integration of ray acoustics and sonar equations. A method for detemining the effective tracking bound in trail is proposed.The ray equations are used to determine the upper boundary and the sonar equations are used to determine the lower boundary. The two boundaries define the effective tracking bound. The lake and sea trials show its validaty. This method can improve the safety and relieability of USBL for tracking underwater robot. |
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| Keywords: | Ultra-short basline system Track Underwater robot Ray equations Sonar equations |
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