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一种改进的水下三阵元辅助惯导系统的定位算法
引用本文:张涛,胡贺庆.一种改进的水下三阵元辅助惯导系统的定位算法[J].中国惯性技术学报,2017(2).
作者姓名:张涛  胡贺庆
作者单位:1. 东南大学仪器科学与工程学院,南京,210096;2. 东南大学微惯性仪表与先进导航技术教育部重点实验室,南京,210096
基金项目:国家自然科学基金资助项目(51375088),微惯性仪表与先进导航技术教育部重点实验室基金(201403),优秀青年教师教学科研资助计划(2242015R30031)
摘    要:针对水下惯导系统定位误差随时间发散的缺陷,设计了一种基于DVL、声学定位辅助惯导的组合导航系统。声学定位系统由安装在水下潜器上的换能器阵和布放在海底的三阵元定位基阵组成,传统长基线定位水下至少要布放四个阵元,三个阵元无法直接定位求解。根据三阵元测得的距离信息和惯导系统输出的位置信息建立距离耦合模型,给出了惯导、DVL和声学定位系统的状态方程和量测方程;同时针对水下声速垂直分布特性,提出了一种等效声速的修正方法。仿真结果表明:在三阵元定位基阵作用范围内,组合导航系统能有效修正惯导位置误差,定位误差小于4 m,具有良好的适用性。

关 键 词:水下潜器  惯导系统  三阵元基阵  距离耦合

Improved positioning algorithm of inertial navigation system with aiding of underwater three-element array
ZHANG Tao,HU He-qing.Improved positioning algorithm of inertial navigation system with aiding of underwater three-element array[J].Journal of Chinese Inertial Technology,2017(2).
Authors:ZHANG Tao  HU He-qing
Abstract:Aiming at the error divergence of the inertial navigation system,an integrated navigation system based on INS/DVL and acoustic positioning is designed for underwater vehicle.The acoustic positioning system is made up of transducer array on underwater vehicles and three positioning array elements on seabed.Traditional LBL system should have at least four elements,while the location of three elements can't be directly calculated.To overcome this problem,a range coupling mode is built based on the distance information measured by the three-element array and the positioning information outputted by the inertial navigation system.The state and measurement equations of inertial navigation,DVL and acoustic positioning system are given.In addition,an equivalent sound velocity correcting method is given based on the vertical distribution characteristics of underwater sound velocity.Simulation results show that the integrated navigation system can effectively correct the position error of the inertial navigation system,the positioning error is less than 4 m,and it has good applicability.
Keywords:underwater vehicle  SINS  three-element array  range coupling
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