2021年8月17日 · /dvl/dvl (uuv_sensor_ros_plugins_msgs/DVL): provides the current DVL-derived linear velocities (relative to the dvl_base_link, which is oriented forward-left-up) and covariance, perceived altitude above the bottom (computed as the average of the 4 individual sonar ranges), and the ranges and other information for the 4 individual DVL sonar beams.

2022年6月9日 · 水下组合导航是 UUV 完成长航时水下自主航行和任务的技术保障和基础，而基于 INS/DVL/GPS 的组合导航是当前 UUV 的主流组合导航方式，可解决导航误差随时间积累的难题，满足 UUV 长航时水下航行的要求。 介绍了水下组合导航系统的结构和组成以及关键技术，并详细论述了初始对准算法、纯惯性解算算法、组合导航算法、DVL 标定算法和校准算法。 Underwater integrated navigation is the technical guarantee and foundation for the UUV to …

2020年8月12日 · The UUV Simulator DVL plugin is implemented as a Gazebo model plugin that interacts with the Gazebo world and publishes ROS messages corresponding to perceived readings. Velocity information is derived by adding Gaussian noise to the Gazebo-provided linear velocity of the model with which the plugin is associated.

2024年5月11日 · UUV应该有现成的，声呐传感器现在也有现成的，只需要找出来，拼接到一起. 竟然有水平和竖直两个声呐吗？ 需要操纵杆控制运动. 2. 解决 ERROR: cannot launch node of type [xxx]: can‘t locate node [xxx] in package [xxx]-阿里云开发者社区. <!-- Start RViz --> <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find uuv_descriptions)/rviz/controller_demo.rviz"/> 文章浏览阅读2.3k次，点赞29次，收藏45次。 本 …

2022年12月15日 · Unmanned underwater vehicles (UUVs) cooperative localization technology has become an emerging research topic, which can extend the space-time datum of satellite navigation to seafloor, and provide high-precision location for UUVs to carry out large-area marine environment investigation, exploration and search.

2024年10月23日 · Positioning systems are integral to Unmanned Underwater Vehicle (UUV) operation, enabling precise navigation and control in complex underwater environments. This paper comprehensively reviews the key technologies employed for UUV positioning, including acoustic systems, inertial navigation, Doppler velocity logs, and GPS when near the surface.

用于估计水下自主航行器（AUV）行进速度的主要技术是多普勒速度对数（Doppler Velocity Log，简称DVL）配合惯性系统和指南针。 这种方法被称为 自体感知导航 ，依赖于AUV的自身运动来估算位置。

2023年1月1日 · To improve the robustness of navigation and reduce the influence of the change of system model and measurement noise model caused by environmental factors, an adaptive interactive multi-model algorithm is proposed, which is carried out with the UUV based INS/DVL/MCP/TAN integrated navigation system.

In order to improve the positioning accuracy and reliability of the navigation system in complex underwater environment, a strapdown inertial navigation system (SINS)/doppler velocity log (DVL)/ultra-short baseline (USBL) tightly coupled algorithm is …

Abstract: Integrated navigation with DVL and SINS can improve the positioning accuracy of UUV, but the work of DVL will destroy the concealment of UUV. The distance measured by underwater acoustic has a high accuracy, and does not significantly reduce the concealment of UUV.