A5101803838- Underwater Vehicles and Communication Systems
- Robotics and Sensor-Based Localization
- Inertial Sensor and Navigation
- Target Tracking and Data Fusion in Sensor Networks
- Robotic Path Planning Algorithms
- Indoor and Outdoor Localization Technologies
- Simulation and Modeling Applications
- Maritime Navigation and Safety
- Underwater Acoustics Research
- Industrial Technology and Control Systems
- Embedded Systems and FPGA Design
- Advanced Algorithms and Applications
- Advanced Sensor and Control Systems
- Clinical practice guidelines implementation
- Geophysics and Gravity Measurements
- Advanced Computational Techniques and Applications
- Military Defense Systems Analysis
- Guidance and Control Systems
- Data Management and Algorithms
- Infrared Target Detection Methodologies
- Advanced Control Systems Optimization
- Aerospace Engineering and Energy Systems
- Water Quality Monitoring Technologies
- Adaptive Control of Nonlinear Systems
- Industrial Automation and Control Systems
Northwestern Polytechnical University
2007-2024
Xi'an Polytechnic University
2012
As a key method of ocean exploration, the positioning accuracy autonomous underwater vehicles (AUVs) directly influences success subsequent missions. This study aims to develop novel address low in visual simultaneous localization and mapping (SLAM) within environments, enhancing its application navigation AUVs. We propose an multisensor fusion SLAM system based on image enhancement. First, we integrate hybrid attention mechanisms with generative adversarial networks blurring contrast...
Abstract This article proposes an unscented Kalman filter‐based visual docking controller for underactuated underwater vehicles using a position‐based servoing (PBVS) approach. The relative pose of vehicle with respect to moving station is estimated by filter the measurements multiple point features installed on station. Based pose, Euler angles commands are designed via integral cross‐tracking method drive move along desired path. Then, adaptive neural network (NN) track yaw and pitch...
In order to solve the problem of inconsistent state estimation when multiple autonomous underwater vehicles (AUVs) are co-located, this paper proposes a method multi-AUV co-location based on consistent extended Kalman filter (EKF). Firstly, dynamic model cooperative positioning system follower AUV under two leaders alternately transmitting navigation information is established. Secondly, observability standard linearization estimator lead-follower analyzed by comparing subspace observable...
The failure of the traditional initial alignment algorithm for strapdown inertial navigation system (SINS) in high latitude is a significant challenge due to rapid convergence polar longitude. This paper presents novel vision aided method SINS autonomous underwater vehicles (AUV) regions. In this paper, we redesign model by combining mechanization equations transverse coordinate (TCS) and visual measurement information obtained from camera fixed on vehicle. observability proposed analyzed...
In this paper, we propose a LiDAR-based multi-sensor fusion SLAM system that integrates magnetometer, odometer and IMU information to solve the problem of accuracy degradation lidar algorithm in scenes with insufficient structural features. part, based on feature-based point cloud matching algorithm, magnetometer constraints are introduced improve robustness algorithm. At back end, constructed factor graph for global pose optimization, added measurement each sensor into as factor, so realize...
MEMS-IMU has the characteristics of small size and low cost. It can greatly reduce cost when applied to underwater navigation positioning system. However, lower precision poorer stability, especially MEMS magnetometers are more susceptible surrounding magnetic field environment. Therefore, it is great significance study a stable effective calibration method for magnetometers. In this paper, by analyzing existing magnetometer methods, namely ellipsoid fitting dot product invariance method, an...
In order to meet the needs of real-time communication and control in Autonomous Underwater Vehicle (AUV), a network AUV based on CAN bus technology is designed. The performance messages analyzed evaluated, then system through stimulation software CANoe hardware-in-the-loop simulation. mode has been implemented multi-node cooperation AUV. By using CANscope, signal quality nodes delay time message are tested analyzed. experiments illustrate that structure can requirements distributed...
The general 16-sequence scheme can compensate constant drifts of inertial sensors in the Rotational Inertial Navigation System(RINS), however some new navigation errors will be introduced from coupling rotation and scale factor or installation sensors. This paper designs two schemes with controllability indexing mechanism, called A B. Two completely sensors, furthermore, errors, B error. Simulation results show that: compared scheme, when error is dominant, adopted, positioning reduced by...
In multiple AUVs cooperative navigation system, a small amount of leader with high precision sensors lead large follower low accuracy to complete the task, which has important engineering application value. Improving AUV and positioning is key issues. view water communication data rate current one main error sources localization process, method that using received information ocean calculated by improve position calculation researched, this paper puts forward algorithm considering effect...
When multiple unmanned underwater vehicles(UUV) are in close proximity, only a few of UUVs equipped with high precise proprioceptive localization sensors and others can but be low ones for the reason cost. Though rough achieved by dead-reckoning(DR) system, latter acquire measurement information means two modes former improving accuracy. Two required that all must carry acoustic communication equipments. One is broadcast which distance measurements obtained based on propagation time flight...
A ballistic missile is one of the main targets space target defense and often has an established trajectory. As target, we are only interested in its The intercepting missile, as a body, controls itself toward according to state observed information control strategies real time. So, kinematic equations, dynamic equations based on "transient equilibrium" hypotheses more studied detailed. In order attack with proportional guidance law three dimensional space, two orthogonal planes which...