基于先驗(yàn)地形數(shù)據(jù)處理的水下潛器地形輔助導(dǎo)航方法研究.pdf

1、分類號(hào)：——UDC：密級(jí)：——一編號(hào)：——工學(xué)碩士學(xué)位論文基于先驗(yàn)地形數(shù)據(jù)處理的水下潛器地形輔助導(dǎo)航方法研究碩士研究生：指導(dǎo)教師：學(xué)位級(jí)別：學(xué)科、專業(yè)：所在單位：論文提交日期：論文答辯日期：學(xué)位授予單位：田峰敏郝燕玲教授工學(xué)碩士控制理論與控制工程自動(dòng)化學(xué)院2007年1月2007年2月哈爾濱工程大學(xué)哈爾濱工程大學(xué)碩十學(xué)位論文ABSTRACTMostunderwatervehiclesnavigationsystemsarebasedona

2、ccuratelOWdriftinertialsystem(INs)designedtosustainsubmergedoperationforlongperiodoftimeRegardlessofvelocityaidingsensorandINSqualitythepositionaccuracydecreasenecessitatingpositionupdatesWhenGPSsurfacefixesarenotallowed

3、duetoefficiencyandcover缸1ess，terrainaidednavigation(TAN)isawellsuitedmethodforsubmergedpositionupdatesInthismethoddistancetoseabottomgetbybathymetricsonarisaddedwiththedepthfromthesealevelgivenbypressurescnsortogetthewat

4、erdepth，whichismatchedwithpriorterrainmaptoestimatepositionofthevehicle，tocorrectINSpositionalerrorTerrainElevationMatching(TEVDstrategyisoneofthekeytechniquesinTAN，anduptonowmanyTEMhavebeendevelopedforaircraftonlandwell

5、thereisrarespecialTEMforunderwatervehiclesComparedtoTANforaircrafts，therearesomeparticularitiesofTANforunderwatervehicle，therefore，studyingprobableTEMalgorithmwithhighapplicabilityforunderwatervehicleshasbecomeanimportan

6、tresearchtopic，whichisconcernedinthispaperTraditionalterrainlinearizationmethodscauseabvious1inearizationerrorinthispaperinterpolationtechnique，asolutionforsovlingpartialdifferentialequations口DEs)，isusedtotakeplacelinear

7、izationmethodNatureneighborinterpolation(NNDhasgoodcapabilityhoweverthecomputationtimeislongs0fastnatureneighborInterpolation(n咐DisproposedIntwoaspects，searchingnatureneighborandcomputingshapefunctionthetraditionalmethod

8、isimprovedResultsfromexperimentgivesoutthatFNNIhasgoodrobothighprecisionandtimecomplexityisdecreaSed，thedesireofrealtimecomputationisfulfilledThispaperfocusesonmultibeamechosounder(MBE)whichhasparticularlyattractiveadvan