水下機器人地磁組合導航中ICCP算法的改進.pdf

1、哈爾濱工程大學碩士學位論文水下機器人地磁組合導航中ICCP算法的改進姓名：張悅申請學位級別：碩士專業(yè)：光學工程指導教師：康崇201203水下機器人地磁組合導航中ICCP算法的改進ABSTRACTOpticallypumpedcesiummagnetometerisanewtypeofgeomagneticsensorIthastheadvantageofsmallsize，highsensitivity，widedynamicrange

2、，highintegrationandSOonOpticallypumpedcesiummagnetometerisalaserandopticalfibersensortechnologyapplicationsinthemaindevelopmentdirectionsUnderwaterrobotscancompletemanytasksUnderwaterrobotnavigationtechnologyisparticular

3、lyimportantfortheexplorationofunderwaterareasandunderwaterdetectionAstableperformance，highreliability，handlingacombinationofstrongunderwaterrobotnavigationsystemcanimprovethepositioningaccuracyItCallbedoneforalongtimesub

4、mergedteachthetargetaccuratelyICCPalgorithmisabasicprincipleandstrapdowninertialnavigationsystemerrorsourcebasisThestructuralprincipleofintegratednavigationsystemsisanalyzed，andthestrapsdowninertialnavigationsystemerrort

5、ypesaredescribedInacomprehensiveanalysisofthealgorithm，wechoosethestartingpointistheinitialvalue，contourextraction，contourpointsrecentlydeterminedtostrikearigidtransformationanditerativecompliancewiththeconditionsofappli

6、cationaskeytechnologyareasAfterimprovingtheICCPalgorithm，maxminidistanceofinertiamagneticnavigationsystemplatformdesignhavebeenproposedICCPhighprecisionmatchingalgorithm，thealgorithmisveryeasytoimplementMaxminidistanceal

7、gorithmdoesnotrequirelinearmagneticcontourlinesThesystemdesignisbasedonthegeomagneticmappreparationTothisend，ageomagneticmapreconstructionmethodispresented，whichbasedonkriginginterpolation，richgeomagneticinformationICCPa

8、lgorithmbycontourextractionmethodcallmaketheirstrengths，clustertocompletenavigationG882opticalpumpingmagnetometerforunderwatermagneticmeasurementexperimentCanmeetthebasicrequirementsforgeomagneticnavigationOnthisbasis，we