简介:Inordertoanalyzethespatialmaneuverabilityoftheremotelyoperatedunderwatervehicle(ROV),the6-DOFmotionmathematicmodeloftheROVwasfounded.HydrodynamicswereanalyzedbyusingtheTaylorseries.ThethrustersontheROVwerediscussed.Thispaperconsidersthreecasesofmotionsimulation:verticalmotion,rotationalmotionandZ-shapemotion.Aseriesofsimulationexperimentsshowedthatthe6-DOFmotionmathematicmodelwascorrectandreliable,andalsofitwiththescenesimulation.
简介:Thecriticaltechnicalproblemofunderwaterbottomobjectdetectionisfoundingastablefeaturespaceforechosignalsclassification.Thepastliteraturesmorefocusonthecharacteristicsofobjectechoesinfeaturespaceandreverberationisonlytreatedasinterference.Inthispaper,reverberationisconsideredasakindofsignalwithsteadycharacteristic,andtheclusteringofreverberationinfrequencydiscretewavelettransform(FDWT)featurespaceisstudied.Inordertoextracttheidentifyinginformationofechosignals,featurecompressionandclusteranalysisareadoptedinthispaper,andthecriterionofseparabilitybetweenobjectechoesandreverberationisgiven.TheexperimentaldataprocessingresultsshowthatreverberationhassteadypatterninFDWTfeaturespacewhichdiffersfromthatofobjectechoes.Itisproventhatthereisseparabilitybetweenreverberationandobjectechoes.