计算机工程2012，Vol.38Issue(8)：221-223,231,4.DOI:10.3969/j.issn.1000-3428.2012.08.072
湖水环境下自主监测船的GPS导航设计
GPS Navigation Design of Autonomous Monitoring Ship in Lake Environment
摘要
Abstract
Location and navigation technologies are the key of autonomous ship in lakes. This paper establishes an autonomous ship navigation system, designs the global static coordinate and the local static coordinate, The ship dynamic coordinate and kinematics model. According to human driving technologies, a cruise navigation mode is designed and a region navigation mode is given for saving energy, and navigation strategies using if-then rules. Reasons of practical measurement location data noises of GPS and electronic compass are analyzed. In order to improve the precision of location, FIR digital filtering is designed using Hamming window function. Monitoring area calculating equation is derived. Navigation algorithms and interfaces are programmed based on VC++. And navigation experiments are accomplished on self-developed autonomous ship. Results show that effect of FIR filtering to electronic compass is better than to GPS signals, and the cruise mode can achieve a wide range of scanning and monitoring and the given region mode can achieve the monitoring of key areas using lesser energy consumption.关键词
自主船/导航策略/环境监测/FIR滤波/运动学模型Key words
autonomous ship/navigation strategy/environmental monitoring/FIR filtering/kinematic model分类
信息技术与安全科学引用本文复制引用
黄艳岩,金英连,方水光,王斌锐..湖水环境下自主监测船的GPS导航设计[J].计算机工程,2012,38(8):221-223,231,4.基金项目
国家自然科学基金资助项目(50905170) （50905170）
浙江省自然科学基金资助项目(Y1090042) （Y1090042）
机器人学国家重点实验室开放基金资助项目(RL0200918) （RL0200918）
