公开(公告)号：US20250044803A1

公开(公告)日：2025-02-06

申请号：US18599605

申请日：2024-03-08

Applicant: Hunan University of Science and Technology

Inventor： Chaoyang CHEN ,  Zongyao LI ,  Pei LI ,  Juan CHEN ,  Zuguo CHEN ,  Ying ZOU ,  Ming LU ,  Zunhui YI ,  Lei HE ,  Liang CHEN

IPC: G05D1/24 ,  B63G8/00 ,  B63G8/39 ,  G01S15/58 ,  G05D109/30 ,  G05D111/20

Abstract: The disclosure provides a communication delay compensation method and a communication delay compensation system based on an autonomous robot, where the method includes the following steps: establishing a state equation based on a system model of an AUV positioning system; acquiring an included angle between a direction vector of AUV to an observation station and a velocity vector of AUV based on the system model; establishing an observation equation according to the state equation and the included angle; establishing an extended Kalman filter equation based on the system model, the included angle and the observation equation; and calculating a position information predicted value at the current time by using the extended Kalman filter equation to complete communication delay compensation.