| 一种基于集中滤波的SINS/DVL/USBL
水下组合导航算法 |
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| 引用本文： | 张亚文,莫明岗,马小艳,江薇.一种基于集中滤波的SINS/DVL/USBL
水下组合导航算法[J].导航定位于授时,2017,4(1):25-31. |
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| 作者姓名： | 张亚文 莫明岗 马小艳 江薇 |
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| 作者单位： | 北京自动化控制设备研究所,北京,100074 |
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| 基金项目： | 海军“十三五”预先研究项目 |
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| 摘 要： | 针对水下运载体的长时间高精度导航问题,提出一种基于集中滤波的捷联惯性导航系统(SINS)/声学多普勒测速仪(DVL)/超短基线(USBL)水下组合导航方法,建立了杆臂在线估计的SINS/DVL速度观测模型和SINS/USBL相对量测信息观测模型,并利用参考信息判定结果实时更新量测方程及维数,既能保证精度,还能一定程度上减少运算量。理论仿真和湖面试验表明,本算法能够实现长时间高精度的水下导航定位,具有可行性。
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| 关 键 词： | 组合导航 集中Kalman滤波 SINS DVL USBL |
An Algorithm of Underwater SINS/DVL/USBL Integrated
Navigation Based on Concentrated Filtering |
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| Zhang Ya-wen,Mo Ming-gang,Ma Xiao-yan and Jiang Wei.An Algorithm of Underwater SINS/DVL/USBL Integrated
Navigation Based on Concentrated Filtering[J].Navigation Positioning & Timing,2017,4(1):25-31. |
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| Authors: | Zhang Ya-wen Mo Ming-gang Ma Xiao-yan and Jiang Wei |
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| Institution: | Beijing Institute of Automatic Control Equipment,Beijing Institute of Automatic Control Equipment,Beijing Institute of Automatic Control Equipment and Beijing Institute of Automatic Control Equipment |
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| Abstract: | For long-time and high-precision navigation of UUV, an integrated navigation algorithm of SINS,DVL and USBL which is based on the Concentrated-KF is designed, then a SINS/DVL observation model which can compensate the arm error in real time and a SINS/USBL model which observes the relative measurement information are established. Besides, on the basis of the result of reference information judgement, the realtime updates of the Filter observation equation and its dimension are achievedwithout increasing of the computation or losing the navigation precision. Finally, the results of theoretical simulation and data analysis of lake test show the advantage and the practicability of the new integrated navigation algorithm |
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| Keywords: | Integrated navigation Concentrated-KF SINS DVL USBL |
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