摘要水下环境变幻莫测，有一个坚固安全的船体才能保证船上人员的安全，所以定时检测和清理船的底部和螺旋桨尤为的重要。利用带缆绳的水下机器人水下检测和作业减少了人工作业的危险性，降低了成本。机器人在水域可以任意畅游，但也很容易迷失方向，如何准确有效的到达检测地点完成检测和清理任务，这就需要水面导航定位机器人的位置，指示它航行和工作，因此水下导航定位系统的设计很关键。86319

本文是研究水下检测与作业机器人ROV的导航系统，主要研究工作如下：

1。根据捷联式惯导系统的位置、速度、姿态的计算公式，陀螺仪和加速度计的输出特性结合导航系统中的各种误差特性和误差方程，利用Matlab编程仿真捷联惯导系统的误差，发现捷联惯性系统在长时间航行下位置和速度的误差在不断的积累，无法满足长航行的精度要求。

2。为了解决单一捷联惯导系统精度不高的问题研究卡尔曼滤波在组合导航中的应用，分析SINS/DVL组合导航。同样利用Matlab编程仿真和单一捷联惯导系统比较发现提高了位置的精度。

3。利用互补滤波方法抑制陀螺漂移，以四元数为估计对象设计卡尔曼滤波器，采用改进的自适用卡尔曼滤波器，设计了ROV运行中导航参数解算的过程和步骤。

    4 。将导航系统应用于ROV样机进行了进行水池实验。实验结果表明，水下机器人操控稳定，能够实现水下浮游检测基本功能，且导航与控制性能良好，达到了预期要求。

毕业论文关键词：水下机器人；捷联惯导；多普勒测速仪；卡尔曼滤波

Abstract Water environment is changeable, a safety and firmness of the hull to ensure the safety of persons on board, so timing detection and clearance of the ship bottom and the propeller is particularly important。By using cable of underwater underwater to test and operat can reduce the risk of manual operation and reduces costs。Robot can swim in the waters casually, but it is also very easy to get lost。 The navigation of underwater  robot controls it’s sail and work, so that we can arrival the Destination and finish ctask  effectivelly。so underwater navigation positioning system design is critical。

This article is to study the underwater testing and operation of the ROV navigation system,the  main work as following:

1。According to the formula for calculating the strapdown inertial navigation system position, velocity, attitude, the gyroscope and accelerometer output characteristics of the combined with navigation system error characteristics and error equation, using the MATLAB simulation of strapdown inertial navigation system error。 It is found that the strapdown inertial navigation system (SINS) in long time navigation position and speed error in the continuous accumulation, unable to meet the accuracy requirements of the long voyage。

2。In order to solve the problem of low precision of single strap down inertial navigation system, the application of Calman filter in integrated navigation system is studied, and the analysis of SINS/DVL integrated navigation system is analyzed。 Also using Matlab programming simulation and single strap down inertial navigation system, it is found that the accuracy of the position is improved。

     3。 The use of complementary filter method to restrain the drift of the gyro, the quaternion to estimate the object design Kalman filter, the improved since the application of the Kalman filter, the design of the navigation parameters of the ROV operation solution steps and the process。

4。 The navigation system is applied to the ROV prototype。 The experimental results show that the underwater robot is stable and can achieve the basic functions of underwater detection, and the navigation and control performance is good, and it can achieve the expected requirements。