Method for correction of underwater robot position error with single acoustic beacon
An underwater robot and acoustic beacon technology, which is applied in the re-radiation of sound waves, instruments, measuring devices, etc., can solve the problems of position error correction failure, incorrect correction results, and inability to guarantee position errors.
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[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0044] A device for correcting the position error of an underwater robot with a single acoustic beacon, such as figure 1 As shown, it consists of an acoustic beacon and a range finder installed on the underwater robot.
[0045] The method flow chart of the present invention is as figure 2 As shown, the rangefinder of the underwater robot periodically collects the distance between the moving underwater robot and the acoustic beacon; Sailing distance, calculate the steering angle of the underwater robot, and control the underwater robot to sail to the acoustic beacon; when the distance between the underwater robot and the acoustic beacon is reduced to the set value R l When , the underwater robot turns to move around the acoustic beacon; according to the heading, speed of the underwater robot and the collected distance between the underwater ...
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