ID 原文 译文
53187 此时支路上对应的点便为该邻域点的父节点。 At this time, the corresponding point on the branch is the parent node of the adjacent point.
53188 实验结果表明，改进算法能够有效提高路径质量，即规划的路径长度更短、转折更少。 Experimental results show that the improved algorithm can effectively improve the path quality, that is, the planned path length is shorter and the number of turns is less.
53189 与此同时，真实代价G和预估代价F之间的偏差降低，启发函数的启发能力增强，寻路效率也有所提高。 At the same time, the deviation between the real cost G and the estimated cost F is reduced, the heuristic ability of the heuristic function is enhanced, and the pathfinding efficiency is also improved.
53190 为了满足多关节潜器(MAUV)在深海进行精细化探测的需要，实现其在基线长度实时变化的情况下仍能进行高精度定位，设计并实现了一种适用于MAUV的变基线定位系统。 In order to meet the need of refined detection of multi-joint autonomous underwater vehicle(MAUV) in deep sea and to realize its high-precision positioning under the real-time change of baseline length, a variable baseline positioning system for MAUV is designed and developed.
53191 该定位系统通过水听器阵列获得潜标发射的线性调频(LFM)水声信号，利用同步时延估计算法得到时延信息; The variable baseline positioning system includes a beacon located near the sea bed which emitts linear frequency modulation(LFM) acoustic signal, and a hydrophone array mounts on MAUV to receive the signal.
53192 辅助以光纤陀螺仪、关节转角传感器数据，通过基线解算算法更新基线长度及姿态参数; The time delay of the signal is calculated by a synchronous time delay estimation algorithm; added data from fiber optic gyroscope and turning angle sensor, the baseline length and attitude angle are updated by a baseline calculation algorithm;
53193 结合温盐深仪、多普勒计程仪数据，利用变基线定位算法计算得到MAUV的三维位置坐标。 in the end, combined with the data of a conductivitytemperature-depth system and a doppler velocity log, the three-dimensional coordinates of the MAUV are obtained by the variable baseline positioning algorithm.
53194 通过基于Bellhop的定位仿真及消声水池实验验证，结果表明该定位系统具有稳定性强、定位精度高的优点， Results of simulations based on Bellhop and experiments in an anechoic water tank show that the variable baseline positioning system has advantages of strong stability and high positioning accuracy,
53195 其定位精度优于斜距的1%，能满足MAUV在深海工作的定位要求。 and its positioning accuracy is better than 1 % of the slant distance, which meets the positioning requirements of MAUV in the deep sea.
53196 图像法水位测量通过图像处理技术检测水位线，实现水位信息的自动获取。 The image method of water level measurement detects the water level line through image processing technology to realize the automatic acquisition of water level information.