湖水环境下自主监测船的GPS导航设计

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	湖水环境下自主监测船的GPS导航设计
	黄艳岩 ; 金英连 ; 方水光 ; 王斌锐
刊名	计算机工程
	2012
卷号	38 期号:8 页码:221-223, 231
关键词	自主船导航策略环境监测 FIR滤波运动学模型
ISSN号	1000-3428
其他题名	GPS Navigation Design of Autonomous Monitoring Ship in Lake Environment
产权排序	2
中文摘要	建立导航系统所需的全局静坐标系、局部静坐标系、船体动坐标系和自主船运动学模型。模拟人的驾驶技术,建立巡航和定区域节能2种导航模式,设计推理规则。分析实测的电子罗盘和GPS数据误差原因。为提高定位精度,设计海明窗FIR数字滤波器以及巡航面积计算方法。基于VC++开发导航软件,在自主研发的监测船上开展实验。结果表明,FIR对电子罗盘信号的滤波效果优于GPS信号,巡航模式可实现大范围监测,定区域模式对重点区域进行监测时能耗较低。
英文摘要	Location and navigation technologies are the key of autonomous ship in lakes. This paper establishes an autonomous ship navigation system, designs the global static coordinate and the local static coordinate, the ship dynamic coordinate and kinematics model. According to human driving technologies, a cruise navigation mode is designed and a region navigation mode is given for saving energy, and navigation strategies using if-then rules. Reasons of practical measurement location data noises of GPS and electronic compass are analyzed. In order to improve the precision of location, FIR digital filtering is designed using Hamming window function. Monitoring area calculating equation is derived. Navigation algorithms and interfaces are programmed based on VC++. And navigation experiments are accomplished on self-developed autonomous ship. Results show that effect of FIR filtering to electronic compass is better than to GPS signals, and the cruise mode can achieve a wide range of scanning and monitoring and the given region mode can achieve the monitoring of key areas using lesser energy consumption.
分类号	U666.1
收录类别	CSCD
语种	中文
CSCD记录号	CSCD:4512517
公开日期	2013-04-21
内容类型	期刊论文
源URL	[http://ir.sia.ac.cn/handle/173321/10609]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	黄艳岩,金英连,方水光,等. 湖水环境下自主监测船的GPS导航设计[J]. 计算机工程,2012,38(8):221-223, 231.
APA	黄艳岩,金英连,方水光,&王斌锐.(2012).湖水环境下自主监测船的GPS导航设计.计算机工程,38(8),221-223, 231.
MLA	黄艳岩,et al."湖水环境下自主监测船的GPS导航设计".计算机工程 38.8(2012):221-223, 231.