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本文介绍了一种用于载人潜水器的导航传感器的数据采集及信息融合技术。航行控制计算机通过基于工业以太网的数据通信系统对各传感器进行数据采集,采用卡尔曼滤波器完成对各传感器数据信息的融合,以便提高数据的精度和控制系统的性能,并将结果送给监控计算机,用于载人潜水器的姿态显示。
This article describes a data acquisition and information fusion technology for a navigation sensor for a manned submersible. Navigation control computer through the industrial Ethernet based data communication system for each sensor data acquisition, the use of Kalman filter to complete the integration of the sensor data and information in order to improve data accuracy and control system performance, and the results sent to the monitoring Computer, used for manned submersible attitude display.