【作者】 郭利伟； 刘卫东； 孙伟； 张熔；

【Author】 GUO Li-wei;LIU Wei-dong;SUN Wei;ZHANG Rong;School of Marine Science and Technology,Northwestern Polytechnical University;

【机构】 西北工业大学航海学院；

【摘要】 为实现爬游无人潜水器水中巡游和海底爬行作业的任务需求,研究并设计爬游无人潜水器导航控制系统。针对爬游无人潜水器的功能和控制需求,研究导航控制系统的硬件结构;基于模块化设计的思想,对导航控制系统软件结构进行模块划分,并根据软件模块的结构特点,进行多任务设计。最后进行控制系统联合调试,通过巡游和爬行仿真试验,验证导航控制系统整体的导航和通信功能,试验结果表明本论文所设计的导航控制系统具有良好的稳定性和可靠性。更多还原

【Abstract】 In order to realize the mission requirements of cruising and underwater crawling in the underwater unmanned submersibles,the navigation and control system of the crawling unmanned submersible is researched and designed.According to the function and control requirements of the crawling unmanned submersible,the hardware structure of the navigation control system is studied.Based on the idea of modular design,the software structure of the navigation control system is divided into modules,and according to the structural characteristics of the software module,multitask is designed.Finally,the joint debugging of the control system was carried out.The navigation and communication functions of the navigation control system were verified by the parade and crawling simulation experiments.The experimental results show that the navigation control system designed in this paper has good stability and reliability.更多还原