%0 Journal Article
%T Intelligent localization-system for subminiature underwater-vehicle<br>超小型水下机器人智能定位系统
%A GAO Yan-zeng
%A YE Jia-wei
%A CHEN Yuan-ming
%A LIANG Fu-lin
%A <br>高延增
%A 叶家玮
%A 陈远明
%A 梁富琳
%J 控制理论与应用
%D 2010
%I 
%X A new intelligent localization system is developed for the subminiature-underwater-vehicle(SUV). In this system, we combine the short-base-line(SBL) localization sonar, the electronic compass, the X=Y angle-sensor and the depth sensor to make up the hardware architecture for the SUV localization system; and develop the component-based 3D virtual display software system for the land-based positioning computer. In the time-interval between SBL signalmeasurements, the Markovian-self-localization algorithm is employed to calculate the position of the SUV. This accelerates the localization process, and makes it in synchronization with the operation of the posture sensor. Experimental tests are designed and performed for this localization algorithm; results show the effectiveness in application.
%K underwater vehicle
%K Markov localization
%K software architecture
%K component<br>水下机器人
%K 马尔可夫自定位
%K 软件体系结构
%K 构件
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=9B688D414F51593EFB510FFF5CF340E2&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=9CF7A0430CBB2DFD&sid=D932AD0F8FDA3032&eid=EEBB803F60D7DC4B&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=12