中文摘要：

根据水下机械手的工作需要,设计了一套高精度的水下超声波定位系统。采用超声波检测距离、三探头阵列检测方位的方案,使用超低功耗单片机MSP430精确计算超声波往返时间和控制三探头轮流工作,通过对三个探头的测量数据进行处理,实现目标测距及定位。经过实验室及水池实验表明,该系统在水下工作稳定,精度及灵敏度高,是水下机器人及机械手自主探测目标的有效手段之一。

英文摘要：

According to the operational needs of the underwater-manipulator,this paper designs a high-precision underwater ultrasonic positioning system.The system adopts ultrasonic wave to detect the distance,and three-probes to detect the orientation.It uses ultra-low power MSP430 microcontroller to accurately calculate the ultrasonic wave′s transmitting time and control the three probes to work.By processing the data from the three probes,the system can get the orientation and distance information of the target.The experiments show that the system works steadily,and has high precision and sensitivity.It is an effective means for autonomous underwater vehicle and manipulator to detect targets.