State estimation of QAUV Based on dynamic model

被引：0

作者：

Ji, Daxiong ^{[1
,2
,3
,4
,5
]}

Wang, Rui ^{[1
,2
,3
,4
,5
]}

Wang, Zhi ^{[6
]}

Ren, Qinyuan ^{[6
]}

机构：

[1] Zhejiang Univ, Ocean Coll, Inst Marine Elect & Intelligent Syst, Zhoushan 316000, Peoples R China

[2] Zhejiang Univ, Shenzhen Res Inst, Shenzhen 518057, Peoples R China

[3] Zhejiang Univ, Huzhou Inst, Huzhou 313299, Peoples R China

[4] Key Lab Ocean Observat Imaging Testbed Zhejiang P, Zhoushan 316000, Peoples R China

[5] Minist Educ, Engn Res Ctr Ocean Sensing Technol & Equipment, Zhoushan 316000, Peoples R China

[6] Zhejiang Univ, Coll Control Sci & Engn, 38 Zheda Rd,Yuquan Campus, Hangzhou 310027, Zhejiang, Peoples R China

来源：

2022 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION, WRC SARA | 2022年

关键词：

LOCALIZATION; NAVIGATION;

D O I：

10.1109/WRCSARA57040.2022.9903961

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Quadrotor Autonomous Underwater Vehicle (QAUV) is a new type of intelligent robot with simple structure and high motion efficiency. Like other underwater robots, its state acquisition has always been a thorny problem. In order to realize low-cost control of QAUV, a state estimation method based on 6 Degrees-Of-Freedom (DOF) dynamic model is proposed in this paper. By analyzing the unique coupling motion characteristics of the QAUV, the dynamic model is simplified, and the relationship between inclination and velocity is obtained when moving at a uniform speed. According to the simulation and theoretical derivation, the estimation method is extended from uniform motion to generalized forward and translational motion. The simulation results show that the state values obtained by this method have high accuracy, low cost and convenient use.

引用

页码：240 / 245

页数：6

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