ULTRASONIC CORRELATION POSITIONING FOR MOTION OBJECT IN UNSTRUCTURED CONDITIONS AND MODEL EXPERIMENT

摘要

Motion of an executive end of parallel mechanisms, a mining ship in deep-sea-mining and an under-water vehicle and so on, forms a Riemannian topological manifold of 4 or above dimensions because they move in unstructured conditions. It is difficult to position for a motion part in unstructured conditions by means of traditional methods of measurement. In the paper, an amplitude modulated ultrasonic sound was used for positioning according to correlation. Hilbert transform-based algorithms for positioning were studied and simulation for these was done. Then a setup for model experiment was made and experiments were performed. The data on simulation and experiment indicate the measurement range is about 10 times more than that of positioning based amplitude un-modulated ultrasonic sound. The positioning error on experiment is within ±1 mm. The positioning is also suitable to measure heave of a mining ship in deep-sea-mining.