摘要： 针对海上随波运动养殖网箱网衣巡检机器人导航定位难题，利用激光传感器在水下近距离测距的高精度、低干扰优势组成激光矩阵，提出一种基于激光矩阵的水下网衣巡检机器人定位方法。基于网箱物理模型，通过建立网箱编码先验地图，并在gazebo仿真环境下模拟水下网衣巡检机器人作业情况，激光测距信息中计算出机器人对网衣的相对航行距离和偏航角，且0.4 m距离处计算平均误差3.72%，0.08 m距离处计算平均误差8.15%，0.14 rad偏转计算平均误差19.18%，在8×6的网衣格栅定位中误差为0个网目，说明本方法满足巡检机器人在非惯性系下养殖网箱内的定位要求。研究表明，本方法为进一步研究水下巡检机器人在深海养殖网箱内定位问题提供参考。

关键词: 水下网衣巡检机器人, 激光测距矩阵, 网衣格栅定位

Abstract: To solve the navigation and positioning problem of the underwater net inspection robot, a positioning method of the robot based on the laser array is proposed by using the advantages of high precision and low interference of the laser sensor in the underwater short-range range. Based on the physical model of the cage, by establishing an a priori map of the cage code and simulating the operation of the robot in the gazebo simulation environment, the relative sailing distance and yaw angle of the robot to the netting are calculated from the laser ranging information, and the average error is 3.72% at the distance of 0.4 m, 8.15% at the distance of 0.08 m, and 19.18% at the deflection of 0.14 rad. The error in the positioning of the 8×6 net grid is 0 mesh, It shows that this method can meet the positioning requirements of the robot in the aquaculture cage under the non inertial frame. The results show that this method can provide a reference for the further study of the underwater net inspection robot positioning in deep-sea aquaculture cages.

Key words: underwater net inspection robot, laser rangefinder array, net grille positioning