Compact underwater vehicle with acoustic link for communication and positioning
Compact underwater vehicle with acoustic link for communication and positioning
复制标题
具有用于通信和定位的声学链路的紧凑型水下航行器
DOI：
10.1109/ut.2000.852550
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
Y. Nagashima
中科院分区：
文献类型：
--
作者：
J. Mian;T. Ishimatsu;Y. Nagashima
本文描述了使用可变矢量螺旋桨、分布式控制器和水声通信系统的自主水下航行器的开发。还介绍了一种使用现场可编程门阵列 (FPGA) 控制伺服电机的新技术。此外，本文还介绍了水下航行器的3D定位技术。 FPGA 技术的数字信号处理使我们能够构建紧凑、快速且高度可靠的系统。
This paper describes the development of autonomous underwater vehicle using variable vector propellers with the distributed controller and underwater acoustic communication system. Also presented is a novel technique of controlling the servomotors using the field programmable gate array (FPGA). Moreover, this paper also describes the 3D positioning technique for underwater vehicle. The digital signal processing by FPGA technology has enabled us to build compact, fast and highly reliable systems.