auv 中文意思是什麼

For the irrecoverable sensor faults, this strategy minimizes its damage to the auv

對于傳感器出現的無法修復性故障，這種策略最小化了其帶給機器人的損傷。

Based on the " fangsheng - i " robot fish of harbin engineering university auv lab, at first the analysis of the relations of pectoral fin ' s attack angle and lift in vertical plane is done in this paper, using the robot fish ' s hydrodynamic results by the panel method ' s, then setting up the motion model in vertical plane is done. finally animation the robot fish ' s motion in horizontal plane is finished

論文以哈爾濱工程大學軍用智能水下機器人國防重點實驗室的「仿生? 」號仿魚機器人為對象，利用面元法計算的仿魚機器人水動力結果，並分析了垂直面內胸鰭的攻角與升力的關系，建立了垂直面內的模型，根據軸變形模擬了仿魚機器人水平面內的直航和偏航。

The status and development of sub - mini auv and rov in abroad are described

發達國家均開展了此類型潛水器的研究。

In this paper, the main research works are as follows : 1 ) survey and analysis previous work in auv navigation and summarize : as the cumulate error, the dead - reckoning and inertial navigation systems ca n ' t be used without other modified system ; the acoustic navigation system is used only in small range, and is very expensive. 2 ) two important approaches in geophysical navigation techniques are summarized, one is terrain contour based navigation, this approach is investigated keystone today ; the other is image based navigation, due to no perfect image sensors and image seabed map, this approach has seldom been practised. 3 ) two important terrain contour based navigation algorithms has been applied to auv, one is match algorithm - based terrain contour match ( tercom ) ; the other is kalman filter - based sandia inertia terrain - aided navigation ( sitan )

主要研究內容包括：一、總結分析了當前水下導航的常用方法和不足之處，指出基於航位推算的導航方法，存在著最大的問題就是導航誤差的積累問題，如果沒有修正系統，這種方法很難滿足使用要求；其次指出基於聲學的導航方法，造價昂貴，導航范圍有限，難以滿足自主水下航行器大范圍導航的需求；二、總結了當前水下地形輔助導航的主要技術路線，一是基於地形高程的匹配方法，這是當前研究的重點；二是基於地形圖像的匹配方法，由於缺乏良好的圖像傳感器，和可用的海底圖像地圖，目前這種方法還有待研究發展；三、將兩種地形高程匹配的常用方法應用到自主水下航行器上：以相關演算法為前提的地形輪廓匹配（ tercom ）方法和以卡爾曼濾波為基礎的桑迪亞慣性地形輔助導航（ sitan ）方法，前者演算法簡單可靠，但是導航精度不高，後者雖然精度比較高，但存在著演算法較為復雜、有可能發散和出現奇異值等問題。

Auv ' s position control and velocity control are researched and s imulation experiment i s carried out at two situations : in blue and whisht water and in water with current and adding noise

本文設計了auv位置控制器和速度控制器。並對深海靜水和有海流噪聲兩種情況進行了模擬試驗。

The auv ' s hydrodynamic diving and surfacing are realized by dropping ballasts without consuming any power

摘要無動力上浮下潛是利用拋壓載而不消耗任何動力的方法。

Then two approaches to discuss the feasibility of applying ga to auv ' s fuzzy logic controller design are presented

然後在此基礎上，分兩種情況討論了將遺傳演算法用於水下機器人模糊控制器設計的可行性。

So, in this thesis research, the information fusion is not only a data disposal process from lowers to higher, but also the feedback from higher to lower, that means the higher takes part in the d ata fusion of lower. simulations and trials validate all these methods and the results of these show that it is very effective to improve the control performance of auv by applying data fusion technology to the motion control system

本文通過水下機器人的模擬試驗和海上智能作業試驗進行驗證，試驗結果表明，將多傳感器信息融合技術應用到水下機器人的運動控制系統中，提高了整個控制系統的可靠性和保障水下機器人的安全航行和完成任務，促進水下機器人智能控制技術的發展。

Firstly, related research work on agent, multi - agent system ( mas ), robot, multi - robot system ( mrs ) and auv are described. then, based on the famous bdi theory, extended bdi model ( xbdi model ) is presented. in xbdi model, every robot or agent has own mental states, such as beliefs, desires, goals, intentions and behavioral property, such as roles, capabilities, plans, know - hows

本文在簡要介紹agent及mas 、機器人及多機器人，尤其是水下機器人技術的研究現狀及發展趨勢之後，在目前廣為使用的bdi模型基礎之上，提出了適用於水下機器人的擴展bdi模型（ exendedbdimodel ，以下簡稱為xbdi模型） ，描述了xbdi - agent的結構和功能、定義了xbdi邏輯語言l _ x 、給出了xbdi - agent的心智狀態的表示及處理方法、並給出了xbdi系統的運行演算法。

Simulation of long - distance auv in low speed maneuvers

微速操縱性模擬研究

4. auv ' s navigation system, control system and planning system have been tested, and song hua lake test has been processed. some valuable experience has been gotten

完成了導航系統與控制、規劃系統之間的聯調，並進行了水池和松花湖試驗，驗證了導航系統，總結了一定的經驗。

As the cumulate error, inertial navigation system ca n ' t provide perfect position and navigation for the autonomous underwater vehicles ( auv ) in unstructured, complex and instable ocean in a long time. the application of terrain - aided navigation techniques to the updating of an inertia navigation system has been investigated

慣性導航系統是實現水下導航的一種重要方法，但慣性導航存在累計誤差，為了修正慣性導航的累積誤差，提高導航精度，本文將飛機、導彈等所使用的地形輔助導航系統，應用到水下航行器上，成功地滿足了自主水下航行器的導航需求。

Taking the " ocean physiognomy reconnaissance " as a specific case, this paper describes the global path - planning based on mission information, specific chart, and auv ' s self - state, and the procedure of mission decomposition, named task descript in the foundation of the produced path

以「海洋地貌勘測」為一個具體案例，本文描述了根據使命信息、海區海圖、以及auv自身狀態進行使命路徑規劃，並在全局路徑的基礎上進行使命分解即任務描述的過程。

Dead reckoning navigation needs little space, but has high precision. the paper solves the navigation system of " tset - 1 " auv based on the sensors available, and a compact soft has been developed. some experience has gotten during the song hua lake " s test

本文針對「試驗- 1號」小型機器人導航系統要求和傳感器的配備情況，從工程實用性出發，完成了導航軟體的開發，並進行了松花湖試驗，這為今後水下機器人導航系統的研究與應用提供了有益的借鑒，積累了一定的經驗。

Underwater image processing is one of the key factors in auv vision, the result of which acts as the input of feature extraction and recognition of the underwater objects

水下圖像處理技術是auv視覺模塊的關鍵技術之一。水下圖像處理結果的好壞直接影響到特徵提取和目標識別的成敗。

The mission planning is the highest - lever control in the hybrid control architecture of autonomous underwater vehicle ( auv )

在自治式水下機器人（ auv ）分層遞階模式的自主控制體系結構中，使命規劃屬于最高層的控制。

An overview of the vehicle design along with description of all major hardware components and sensors is given. the arithmetic of auv control and navigation system is discussed in the paper. the methods of the implementation of gps and electronic compass aided heading control is provided

設計了水下航行器的總體導航與控制方案：採用gps與磁通門傳感器相結合的路徑規劃與航向控制系統；以深度信息為參量的深度控制系統。

In the constructing of the diagnosis module using the technology of the combination of the fuzzy logic and neural network, which based on the fuzzy adaptive learning control network, a simple kind of capable method for consummate the structure and performance of network is introduced, which includes the rules extraction based on the maximum weights matrix and the parameters amendment based on genetic algorithm by floating - point coding. during the monitoring of the parts condition, the output of the condition monitoring system shows the good working condition of the executing agency by fuzzily deducing from the control instruction send by the auv ' s controller and motion status, and so offers the proof to complete mission and return safely

在珍斷模塊建模中採用模糊邏輯與神經網路結合的技術，以模糊自適應學習控制網路為核心，提出了一種簡單可行的基於最大權值矩陣的規則提取及基於浮點數編碼的遺傳演算法的參數調整的，完善網路結構與性能的方法，並在狀態監測過程中，通過對由控制器輸入的水下機器人運動控制量以及運行狀態的模糊推理，得到執行部件（推進器或舵）的工作狀態優劣程度，為保證水下機器人完成任務，安全返回提供控制依據。

Then, based on several existed ga methods, a ga methods was applied in the gpp problem with the auv s grid environmental model, and it was tested by the joint simulation experiment in the auv simulation system. the gpp method in ga based on apf was also developed by simulation test

然後在已有幾種遺傳演算法路徑規劃方法的基礎上，針對智能水下機器人的柵格化環境模型，用遺傳演算法進行了全局路徑規劃的研究，並且在水下機器人模擬系統中進行了聯調模擬驗證。

In the last part, nmpc studied above are applied to auv ' s station keeping in a shallow waterwave environment

應用模型預測控制，解決水下航行器有波浪干擾環境下的位置保持問題。