DocumentCode :
3328485
Title :
Navigation schemes for underwater robots using strapdown inertial navigation system
Author :
Chen, Z. ; Hung, J.C.
Author_Institution :
Dept. of Autom. Control, Beijing Univ. of Aeronaut. & Astronaut., China
fYear :
1991
fDate :
28 Oct-1 Nov 1991
Firstpage :
1075
Abstract :
The authors deals with navigation schemes for underwater robots using strapdown inertial navigation systems. Compared to the current hydroacoustic position reference systems used for underwater robots, the strapdown inertial systems have longer operation distance, possess better autonomous ability, provide more complete navigation, and offer higher potential accuracy. Two navigation schemes are proposed, one for short-range operations and the other for long-range operations. Criteria for the choice of one of the two are also given. Their application conditions, software requirements, and their respective navigation errors are analyzed
Keywords :
inertial navigation; marine systems; mobile robots; position control; mobile robots; navigation errors; position control; strapdown inertial navigation system; underwater robots; Aircraft navigation; Application software; Base stations; Inertial navigation; Orbital robotics; Radio navigation; Robot kinematics; Robotics and automation; Satellite navigation systems; Silicon compounds;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
Type :
conf
DOI :
10.1109/IECON.1991.239141
Filename :
239141
Link To Document :
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