{
  "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 the AUV positioning system; acquiring an included angle between a direction vector of the AUV to an observation station and a velocity vector of the 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.",
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  "title": "Communication delay compensation method and system based on autonomous robot",
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