| 水下复杂环境下基于SINS/USBL/DVL多源信息融合的组合导航算法 |
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| 引用本文： | 王健,鲁金瑞,郑栋,李璇,张涛.水下复杂环境下基于SINS/USBL/DVL多源信息融合的组合导航算法[J].导航定位于授时,2022,9(1):76-84. |
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| 作者姓名： | 王健 鲁金瑞 郑栋 李璇 张涛 |
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| 作者单位： | 北京控制与电子技术研究所,北京100038,火箭军装备部驻北京地区第七军事代表室,北京100039,东南大学仪器科学与工程学院,南京210096 |
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| 基金项目： | 国家自然科学基金（52071080） |
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| 摘 要： | 针对复杂水下声场环境下高精度、长航时导航与定位的需求,构建了捷联惯性导航系统(SINS)/超短基线(USBL)相对测量信息的观测方程和SINS/声学多普勒测速仪(DVL)的观测方程,提出了一种融合SINS/USBL/DVL多源信息的组合定位算法.为解决声学量测信息不确定引起的导航性能下降的问题,充分考虑水声野值所导致的...
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| 关 键 词： | 多源信息 SINS/USBL/DVL 量测信息不确定 学生t分布 状态估计 海上试验 |
Integrated Navigation Algorithm Based on SINS/USBL/DVL
Multi-source Information Fusion in
Underwater Complex Environment |
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| WANG Jian,LU Jin-rui,ZHENG Dong,LI Xuan,ZHANG Tao.Integrated Navigation Algorithm Based on SINS/USBL/DVL
Multi-source Information Fusion in
Underwater Complex Environment[J].Navigation Positioning & Timing,2022,9(1):76-84. |
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| Authors: | WANG Jian LU Jin-rui ZHENG Dong LI Xuan ZHANG Tao |
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| Institution: | (Beijing Institute of Control and Electronic Technology, Beijing 100038, China;The Seventh Military Representative Office of the Rocket Force Equipment Department in Beijing, Beijing 100039, China;School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China) |
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| Abstract: | For the requirements of high-precision, long-endurance positioning and navigation in the complex underwater sound field environment, the observation equation of Strapdown Inertial Navigation System(SINS) /Ultra Short Baseline (USBL) based on the relative measurement information and the constructed velocity observation equation of SINS/ Doppler Velocity Log (DVL) are deduced, and a SINS/USBL/DVL multi-source information fusion integrated positioning algori-thm is proposed. In order to solve the problem of the navigation performance degradation caused by the uncertainty of the acoustic measurement information, the heavy-tail noise characteristics caused by underwater acoustic wild values are fully considered, and the student''s t distribution is used to derive a robust and adaptive filtering algorithm based on the state estimation, which can improve the accuracy and the robustness of the underwater positioning and navigation of the devices. The effectiveness and superiority of the proposed algorithm are verified by sea trials. |
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| Keywords: | Multi-source information SINS/USBL/DVL Uncertainty of the measurement information Student''s t distribution State estimation Sea trials |
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