设计基于多传感器采集信息的水下机器人导航系统，确保水下机器人能够高效完成水下任务，并改善其导航效果。构建水下机器人导航系统结构，传感器采集模块通过安装于水下机器人上的惯性测量单元、水温水压传感器、GPS传感器、视觉传感器获取其姿态、深度、位置、运动环境信息，数据处理模块调用联合卡尔曼滤波算法实现各种信息的融合后，经通信串口传输至运动控制模块，由主控制器实现水下机器人的运动控制。经以太网通信模块将融合后的数据传输到上位机中，导航模块通过避障算法和路径规划算法实现水下机器人的导航，并呈现导航结果。实验结果表明：该系统可实现多传感器采集信息的融合，融合后速度、位置误差获得有效降低；导航轨迹曲线与实际轨迹基本一致；可实现障碍物避障，并规划出运动轨迹。
Design an underwater robot navigation system based on multi-sensor information collection to ensure that the underwater robot can efficiently complete underwater operations and improve its navigation effect. The structure of the underwater vehicle navigation system is constructed. The sensor acquisition module obtains its posture, depth, position, and motion environment information through inertial measurement units, water temperature and pressure sensors, GPS sensors, and visual sensors installed on the underwater vehicle. The data processing module invokes a joint Kalman filtering algorithm to achieve fusion of various information, and then transmits it to the motion control module through a communication serial port. The motion control of the underwater vehicle is realized by the main controller. The fused data is transmitted to the host computer through an Ethernet communication module. The navigation module realizes the navigation of the underwater vehicle through obstacle avoidance algorithms and path planning algorithms, and presents the navigation results. The experimental results show that the system can achieve the fusion of multi-sensor collected information, and effectively reduce the speed and position errors after fusion. The navigation trajectory curve is basically consistent with the actual trajectory; It can achieve obstacle avoidance and plan movement trajectory.
2023,45(8): 97-100 收稿日期：2022-09-11
DOI：10.3404/j.issn.1672-7649.2023.08.019
分类号：U675.7
基金项目：辽宁省普通高等学校一流课程（工业机器人技术）建设项目（2021-2023）；辽宁省教育科学“十三五”规划课题（JG20EB019）
作者简介：冷芳(1972-),女,硕士,副教授,研究方向为控制工程
