基于声学引导的全向AUV自动对接
Acoustic-based Guidance for Automatic Docking of Holonomic AUVs
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中文总结 AI 辅助
本文提出一种基于全声学传感架构的AUV自动对接系统，利用超短基线传感器对、非线性互补滤波器和扩展卡尔曼滤波器估计相对位姿，并通过几何控制器实现对接，在仿真和水上试验中验证了有效性。
中文摘要 AI 辅助
本文描述了一种系统，用于在未知海流存在的情况下，无需精确知道对接站的位置和姿态，利用全声学传感架构，将自主水下航行器（AUV）自动对接至对接站。该系统依赖一对超短基线传感器，一个搭载于航行器上，另一个安装于海底对接站，从而能够在摄像头失效的低能见度环境中运行。相对姿态通过$SO(3)$上的非线性互补滤波器估计，而扩展卡尔曼滤波器提供相对位置，将位姿估计提供给$SE(3)$上的几何控制器，以执行对接机动。整个系统在专用软件套件中实现，并在仿真和水上试验中进行了验证。
英文摘要
This paper describes a system to automatically dock an AUV onto a docking station without precise knowledge of the position and orientation of the latter, in the presence of unknown ocean currents, using a fully acoustic sensing architecture. The system relies on a pair of Ultrashort Baseline sensors, one onboard the vehicle and one installed on a seabed-resident docking station, enabling operation in low-visibility environments where cameras are ineffective. Relative orientation is estimated by a nonlinear complementary filter on $SO(3)$, while an Extended Kalman Filter provides relative position, supplying pose estimates to a geometric controller on $SE(3)$ that executes the docking manoeuvre. The complete system is implemented in a dedicated software suite and validated in simulation and water trials.
发表机构
- Institute for Systems and Robotics (ISR), Instituto Superior Técnico (IST), University of Lisbon, Portugal（里斯本大学高等理工学院系统与机器人研究所）
机构由 AI 辅助整理，请以论文原文为准。
