基于实测数据回放的ROV导航定位系统研究

针对ROV对国产导航系统的需求，研发了包含导航融合终端软件及光纤罗经在内的ROV导航定位系统工程样机。该系统由嵌入式运行模式、仿真运行模式和数据分析模块三部分组成，能够完整记录ROV工作环境数据信息并进行时标化存储，生成实测数据文件，进而通过精准复现ROV工作环境数据，为ROV导航算法的调试提供便捷、一致的试验数据和高效的数据分析手段。海试验证结果表明,系统有效复现了水下试验数据，通过数据回放仿真高效完成了导航算法参数调试，对USBL噪声实现80%抑制，并能够有效应对USBL输出异常情况，可有效辅助ROV水下调查及安装等工程作业。

Research on ROV Navigation and Positioning System Based on Measured Data Replay

Aiming at the demand of domestic navigation system for ROV, an engineering prototype of ROV navigation and positioning system including terminal software and fiber optic compass is developed. The system is mainly composed of three parts: embedded operation mode, simulation operation mode and data analysis module. It can completely record the data of ROV working environment based on time sequence, and generate the measured data file, which can be used to replay the ROV environment data precisely in the simulation operation mode to provide convenient and consistent experimental data, and then provide a efficient data analysis methods for the debugging of ROV navigation algorithm. The sea trial results show that the system effectively reproduces the underwater test data, and through data playback simulation, the navigation algorithm parameter debugging is completed efficiently. The system can suppress the USBL noise level by 80%, effectively deal with output anomaly of USBL, and effectively assist ROV with underwater investigation, installation and other engineering operations.