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基于非线性制导逻辑的海图无人水面艇轨迹跟踪精度。

Accuracy of Trajectory Tracking Based on Nonlinear Guidance Logic for Hydrographic Unmanned Surface Vessels.

机构信息

Department of Geodesy, Faculty of Civil and Environmental Engineering, Gdansk University of Technology, Narutowicza 11-12, 80-233 Gdansk, Poland.

Marine Technology Ltd., Roszczynialskiego 4/6, 81-521 Gdynia, Poland.

出版信息

Sensors (Basel). 2020 Feb 4;20(3):832. doi: 10.3390/s20030832.

DOI:10.3390/s20030832
PMID:32033155
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7038699/
Abstract

A new trend in recent years for hydrographic measurement in water bodies is the use of unmanned surface vehicles (USVs). In the process of navigation by USVs, it is particularly important to control position precisely on the measuring profile. Precise navigation with respect to the measuring profile avoids registration of redundant data and thus saves time and survey costs. This article addresses the issue of precise navigation of the hydrographic unit on the measuring profile with the use of a nonlinear adaptive autopilot. The results of experiments concerning hydrographic measurements performed in real conditions using an USV are discussed.

摘要

近年来，在水体的水道测量中出现了一种新趋势，即使用无人水面艇（USV）。在 USV 的导航过程中，精确控制在测量剖面上的位置尤为重要。相对于测量剖面的精确导航可避免冗余数据的记录，从而节省时间和测量成本。本文使用非线性自适应自动驾驶仪来解决水道测量单元在测量剖面上的精确导航问题。讨论了在实际条件下使用 USV 进行水道测量的实验结果。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/00b1034a5e56/sensors-20-00832-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/83dd380a7b1c/sensors-20-00832-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/7d4eba65b1a5/sensors-20-00832-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/75d3652f2807/sensors-20-00832-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/1f79c43c2cd4/sensors-20-00832-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/00ec69dc3157/sensors-20-00832-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/ef52484e81ae/sensors-20-00832-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/9736b68d6be0/sensors-20-00832-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/12b1c1bc6611/sensors-20-00832-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/00b1034a5e56/sensors-20-00832-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/83dd380a7b1c/sensors-20-00832-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/7d4eba65b1a5/sensors-20-00832-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/75d3652f2807/sensors-20-00832-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/1f79c43c2cd4/sensors-20-00832-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/00ec69dc3157/sensors-20-00832-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/ef52484e81ae/sensors-20-00832-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/9736b68d6be0/sensors-20-00832-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/12b1c1bc6611/sensors-20-00832-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/f4f7/7038699/00b1034a5e56/sensors-20-00832-g009.jpg

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本文引用的文献

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利用卫星和磁通门罗盘以及全球导航卫星系统实时动态定位技术确定无人水面航行器的方向
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Error Reduction in Vision-Based Multirotor Landing System.基于视觉的多旋翼飞行器着陆系统中的误差减少。
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