水下
惯性导航系统
潜艇
光强度
计算机科学
方向(向量空间)
光场
遥感
极化(电化学)
海试
海洋工程
人工智能
工程类
光学
物理
地质学
数学
海洋学
几何学
化学
物理化学
作者
Pengwei Hu,Wenbin Liu,Jian Yang,Xiang Yu,Lijun Xu,Lei Guo
出处
期刊:Mechatronics
[Elsevier]
日期:2024-04-01
卷期号:98: 103134-103134
标识
DOI:10.1016/j.mechatronics.2023.103134
摘要
It is a huge challenge for autonomous underwater vehicles (AUVs) to determine heading autonomously without the signal of satellite or underwater acoustic positioning system. The underwater polarization navigation is a newly-developed solution for self-orientation. However, the polarization navigation depending on the Rayleigh scattering model is susceptible to the multiple scattering induced by water depth. To address this issue, the underwater light intensity field is exploited benefiting from its environment suitability. By means of calculating the gradient of light intensity, a vector-field model, with resemblance to the ideal Rayleigh model in geometry, can be established for solar-tracking. The integrated navigation model is built based on the solar vector estimated by light intensity gradient (LIG) and inertial navigation system for heading determination. The static test in water tank and dynamic sea trial were conducted to validate the effectiveness of the LIG-based solar-tracking and orientation method, respectively.
科研通智能强力驱动
Strongly Powered by AbleSci AI