| 初始方位信息辅助下潜航器快速传递对准算法 |
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| 引用本文： | 张鹭,吴文启,王林,铁俊波.初始方位信息辅助下潜航器快速传递对准算法[J].导航与控制,2016(3):13-17. |
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| 作者姓名： | 张鹭 吴文启 王林 铁俊波 |
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| 作者单位： | 国防科技大学机电工程与自动化学院,长沙,410073 |
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| 摘 要： | 针对多潜航器连续快速布放需求,提出基于初始方位信息辅助下快速传递对准算法.潜航器惯导系统只在对准初始时刻由移动基准惯导提供准确的方位信息和概略的水平姿态信息,布放入水后以初始时刻水平姿态误差和当前速度误差为滤波状态,以水下多普勒测速仪的速度为观测量,通过卡尔曼滤波进行惯性系下的航行中对准.实验验证以优于0.01(°)/h的激光陀螺惯导系统/卫星组合导航的姿态解算值为参考基准,基于实际数据的仿真计算表明,在50s内即可实现快速对准,方位精度达到1密位(1σ).
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| 关 键 词： | 捷联惯性导航 快速传递对准 方位信息辅助 多普勒测速仪 |
A Fast Transfer Alignment for Underwater Vehicles Based on
Initial Azimuth Information |
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| ZHANG Lu,WU Wen-qi,WANG Lin and TIE Jun-bo.A Fast Transfer Alignment for Underwater Vehicles Based on
Initial Azimuth Information[J].Navigation and Control,2016(3):13-17. |
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| Authors: | ZHANG Lu WU Wen-qi WANG Lin and TIE Jun-bo |
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| Institution: | College of Mechatronics and Automation, National University of Defense Technology;College of Mechatronics and Automation, National University of Defense Technology;College of Mechatronics and Automation, National University of Defense Technology;College of Mechatronics and Automation, National University of Defense Technology |
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| Abstract: | |
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| Keywords: | strapdown inertial navigation system
(SINS
) fast transfer alignment azimuth angle information Doppler velocty log (DVL
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