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FEASIBILITY RESEARCH ON ROV DYNAMIC POSITIONING WITH USBL
Author(s): 
Pages: 487-491
Year: Issue:  6
Journal: ROBOT

Keyword:  超短基线动力定位姿态补偿水下机器人;
Abstract: 以英国Sonardyne公司的超短基线(Ultra-Short Base Line)为研究对象,研究了该系统在各种情况下的重复定位精度,以及将该系统应用于水下机器人动力定位的可能性.实验结果表明,即使存在姿态偏差,如果通过姿态传感器进行动态补偿,该系统仍能获得很好的重复定位精度,可以满足水下机器人动力定位的需要.
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