| 三应答器SINS/USBL紧耦合导航算法 |
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| 引用本文： | 张亚文,莫明岗,马小艳,邓继权.三应答器SINS/USBL紧耦合导航算法[J].导航定位于授时,2015(3):29-33. |
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| 作者姓名： | 张亚文 莫明岗 马小艳 邓继权 |
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| 作者单位： | 北京自动化控制设备研究所,北京自动化控制设备研究所,北京自动化控制设备研究所,北京自动化控制设备研究所 |
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| 摘 要： | SINS/USBL组合导航误差因素主要包括USBL测距精度误差、USBL测角误差、USBL到SINS的安装误差以及应答器的位置误差,且现有USBL设备的普遍特点为:测距精度高而测角精度相对较差。针对上述误差因素和特点,提出一种三应答器SINS/USBL紧耦合导航算法,避免了USBL测角误差以及USBL到SINS的安装角误差等对导航精度的影响,仿真结果表明能够较大程度上提高组合导航定位精度。此外,该算法无需对安装角进行标定,使用更加便捷。
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| 关 键 词： | 三应答器 捷联惯性导航 超短基线 紧耦合 |
An Underwater Tightly Integrated Navigation Algorithm of Tri-responder SINS/USBL |
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| ZHANG Ya-wen,MO Ming-gang,MA Xiao-yan and DENG Ji-quan.An Underwater Tightly Integrated Navigation Algorithm of Tri-responder SINS/USBL[J].Navigation Positioning & Timing,2015(3):29-33. |
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| Authors: | ZHANG Ya-wen MO Ming-gang MA Xiao-yan and DENG Ji-quan |
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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: | The errors of SINS/USBL integrated navigation mainly include USBL range-measuring error, angle-measuring error, the fixation error and the position error of the responder. Besides, most USBL instruments have quite high precision in range-measuring and quite short precision in angle-measuring. For these errors and features, the paper designs an underwater tightly integrated navigation algorithm of tri-responder SINS/USBL, avoiding the angle-measuring error and the fixation error. The theory simulation proves the algorithm can improve the navigation precision. Besides, it can be more convenient because no angle-fixation calibration is needed. |
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