摘要：A digital filtering method is presented to compensate the dynamic characteristics of measuring *** compensation filter has an infinite impulse response property and is designed by system identification approach from the known input output pairs of the measuring *** of this method to eliminating the distortions of measured waveform in transient pulse measurement are *** results show that the measurement errors caused by the sensor are reduced to be very small after the use of the compensation filter.

摘要：A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline *** detection autonomous underwater vehicle(PDAUV) is hereby designed to solve these problems when working with advanced optical,acoustical and electrical sensors for underwater pipeline *** is a test bed that not only examines the logical rationality of the program,effectiveness of the hardware architecture,accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea *** motion control system of PDAUV,including both the hardware and software architectures,is introduced in this *** software module and information flow of the motion control system of PDAUV and a novel neural network-based control(NNC) are also ***,a real-time identification method based on neural network is used to realize system *** tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.