ABSTRACT

Speed measurement of underwater vehicle has taken extremely important position in the field of both underwater robotic and marine platform engineering nowadays. However, it still faces great difficulties due to its complex technology, which also make high precision speed measurement of the underwater structure an innovative technology. In this paper, a novel speed measurement method is proposed on the background of underwater scientific experiment whose object is a wheeled test vehicle used for ocean development. The method is based on Kalman filtering algorithm to fuse data obtained by mechanical pulse speedometer and accelerometer, which heritage good filtering property and following feature of both algorithms, noise immunity has been enhanced as well. Laboratory digital simulation and test pool object experiment all validate the superiority of the method by showing better filtering speed measurement result.

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