图像识别在自主式潜水器自动探雷中的应用

为了实现自主式潜水器自动化探雷的功能,提出了基于K-L变换的目标光学实景像素灰度分布特征提取方法,针对光信号衰减的情况,采用了色彩"补偿"的解决方案.通过对待识目标图像的重建,实例证明,结果是满意的.这对猎雷具装备的发展具有一定的参考价值.     

基于冗余管理的水下航行器深度容错控制方法

随着海洋开发的日益增加,水下航行器的研究也进入了快速发展阶段,如何保证航行器在水下恶劣环境中可靠工作成为急待解决的问题,尤其对于超远航程和超长航时的航行器,其航行过程中难免会发生意外错误,因此在保证性能的同时,如何提高水下航行器的容错能力成为近年来研究的一个热点问题.提出了一种基于冗余管理(Redundancy Management)理论的水下航行器容错控制方案,方案有效利用了航行器中各传感器的冗余性,减少了硬件设备的增加,降低了成本,并利用有限元状态机方法进行了Matlab程序仿真,结果表明,整个方案设计合理,容错控制律真正达到了"容错控制"的目的.     

水下导航系统误差辨识及修正方法

水下航行器经常采用航位推算方式进行定位.由于存在传感器误差,航位推算的定位误差是随着时间发散的,而直接准确检测这类误差非常困难.对航位推算导航系统误差源进行分析与辨识,在此基础上推导出一种新的辨识AUV (Autonomous Underwater Vehicles)导航误差参数的方法,经实航试验结果表明,该算法能够准确辨识AUV导航误差参数向量,简单有效.     

Research on simultaneous localization and mapping for AUV by an improved method: Variance reduction FastSLAM with simulated annealing

At present, simultaneous localization and mapping (SLAM) for an autonomous underwater vehicle (AUV) is a research hotspot. Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion, an improved method of variance reduction fast simultaneous localization and mapping (FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation, particle depletion and particle loss in traditional FastSLAM, which lead to the reduction of AUV location estimation accuracy. The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling. By increasing the weight of small particles and decreasing the weight of large particles, the variance of particle weight can be reduced, the number of effective particles can be increased, and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles. The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation, maintains the diversity of particles, weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.