CAJ | 학술논문

在机器人的广泛应用中，为了获取各种参数和数据，确定各机器人基站的相对位置是极为重要的。为了安全和节省成本，对传感器网络采用了时延差定位算法和频分复用传输模式，即可获得传感器网络节点的相对位置。定位系统的搭建包括发射和接收两部分，并采用了水声换能器进行电一声转换和声一电转换。通过测试，该定位系统利用测试发射和接收信号之间的时间间隔，得到水下机器人传感器网络的相对位置，且满足一定的定位精度。
재궤기인적엄범응용중，위료획취각충삼수화수거，학정각궤기인기참적상대위치시겁위중요적。위료안전화절성성본，대전감기망락채용료시연차정위산법화빈분복용전수모식，즉가획득전감기망락절점적상대위치。정위계통적탑건포괄발사화접수량부분，병채용료수성환능기진행전일성전환화성일전전환。통과측시，해정위계통이용측시발사화접수신호지간적시간간격，득도수하궤기인전감기망락적상대위치，차만족일정적정위정도。
In the applications of underwater robots, it is very important to determine the relative position of the robots in order to obtain a variety of parameters and data. So, for the transmittal safe and reduce production costs, relative position of sensor network node can be obtained by using TDOA (Time Difference of Arrival) location algorithm and the FDM (frequency- division multiplexing) technology. The positioning System, including transmission and reception, uses acoustic transducer to convert electricity to sound and sound to electricity. By the test, the relative position of underwater robots has been located by the time interval available between transmitting and receiving, and the Positioning accuracy can be satisfied.