一种惯性/水声单应答器距离组合导航方法

惯性/水声单应答器距离组合导航方法为自主水下航行器(AUV)校准提供了一种新途径。针对惯性/水声单应答器距离组合导航系统,建立了AUV三维空间运动学模型,对单应答器距离变换位置非线性系统采用李导数方法进行了可观测性分析,设置了合理的载体航行轨迹,位置组合导航算法中采取了延时状态滤波方式实现了量测信息的同步更新。湖上实验表明,采用单应答器距离组合导航方法后,明显地抑制了INS/DVL导航误差的发散趋势,最大定位误差减小幅度约为19.2%,初步验证了惯性/水声单应答器距离组合导航方案的有效性,为解决AUV导航设备水下校准提供了可能。

Inertial/acoustic range integrated navigation with single transponder

An inertial/acoustic range integrated navigation method is proposed for autonomous underwater vehicle (AUV) to realize its accurate navigation without divergence errors.Based on the characteristics and actual conditions of the AUV navigation equipment,the INS/DVL navigation information is combined with the acoustic range information between the AUV and the underwater transponder to calibrate the transponder's position and implement the range integrated navigation.A three-dimensional kinematic model of AUV is established,and the nonlinear observability of range-to-position filter is analyzed by Lie derivatives method.Based on the observability discrimination results,a reasonable trajectory is established.The delay state filter is adopted in the positioning integrated navigation algorithm to update the measurement information synchronously.Experiments on Qiandao Lake show that the proposed method restrains the divergence trend of the INS/DVL navigation error,and the maximum position error is decreased by nearly 19.2％,which verify the effectiveness of the range integrated navigation in AUV navigation error amendment.