| Underwater robot technology research has been the focus of research projects in various countries,the main research direction is mostly for the detection of marine energy,but the inland shallow water lake detection robot research is very little.However,the Inland Lake detection has high research value,such as regular safety inspection on the base of the dam,lake_fishing and lake bottom terrain detection and so on,so it has great value for the study of application of shallow water area control of underwater robot.This topic is based on the study of hardware and software used in underwater robot is designed and verified by experiments.In addition,the positioning and navigation technology of underwater robot are also researched in this paper.What's more,the correctness of the selected three sample optimization algorithm in the navigation process is verified by simulation;Finally,the navigation measurement value is processed by Kalman filter,and the rationality of the integrated navigation method is verified by simulation experiments.This paper is divided into six chapters:The first chapter introduces the research status of the underwater robot at home and abroad,analyzes the future development trend of underwater robot,introduces the methods of positioning and navigation of underwater robot and puts forward the research purpose and contents according to the technical problems encountered in the research of underwater robot.The second chapter introduces the overall design scheme of the underwater robot,and has detailed introduction for the underwater robot from hardware and software aspects.Six propeller control mode is used in the hardware structure and the hardware structure of electronic system are also analyzed and designed.According to the open source MOOS system structure,the software control system used by underwater detecting robot is designed.The third chapter introduces the design of the control module of underwater propeller by comparing the control module design,6 PWM signals are selected to control the motor speed,and the pros and cons of the 12 way to enable signal to drive the corresponding motor reversing.At last,propeller control module that can control the normal speed and reversing of propeller is made by designing the hardware and software of controller.The fourth chapter introduces the working principles and primary algorithm of the strapdown inertial navigation system.The position,velocity and the mathematical model of attitude updating of navigation system are also established.Every algorithm is mathematical optimized and the rationality of all algorithms optimized is verified by simulation.The fifth chapter introduces some errors that may occur in the process of navigation,and detailed analysis for them,in addition,error modeling is made for errors in the process of navigation.Integrated navigation method that combines electronic compass and depth gauge with strapdown inertial navigation system is put forward to reduce the cumulative error of inertial navigation system and improve the navigation accuracy.The sixth chapter is the summary and the prospect of further research in the future. |
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