| DVL安装角估计方法在水下组合导航系统中的应用 |
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| 引用本文： | 朱春云,庄广琛,宋雅兰,马小艳. DVL安装角估计方法在水下组合导航系统中的应用[J]. 中国惯性技术学报, 2011, 19(1) |
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| 作者姓名： | 朱春云 庄广琛 宋雅兰 马小艳 |
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| 作者单位： | 北京自动化控制设备研究所,北京,100074 |
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| 基金项目： | 国家高技术发展计划项目(2008AA8101704) |
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| 摘 要： | 对于INS/DVL组合导航系统,如何准确估计出DVL与载体之间的安装关系是影响组合导航系统精度的关键因素,针对该问题提出了一种在线迭代递推算法,应用卡尔曼滤波技术,对此安装关系进行估计。并对安装关系中的状态变量的可观性进行分析,给出了满足可观性所需的条件以及舰船运动方式。设计出了估计滤波器,并进行了实际船载实验。实验结果表明:在安装角误差小于10°的情况下,迭代计算两次后误差小于0.1°,估计精度满足要求,算法有效可行。该方法代替了人工光学标定方法,具有很好的工程应用价值。
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| 关 键 词： | 组合导航 多普勒计程仪 安装角估计 卡尔曼滤波 |
DVL installation angle estimation and application in underwater integrated navigation system |
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| ZHU Chun-yun,ZHUANG Guang-chen,SONG Ya-lan,MA Xiao-yan. DVL installation angle estimation and application in underwater integrated navigation system[J]. Journal of Chinese Inertial Technology, 2011, 19(1) |
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| Authors: | ZHU Chun-yun ZHUANG Guang-chen SONG Ya-lan MA Xiao-yan |
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| Affiliation: | ZHU Chun-yun,ZHUANG Guang-chen,SONG Ya-lan,MA Xiao-yan(Beijing Institute of Automatic Control Equipment,Beijing 100074,China) |
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| Abstract: | It is crucial for INS/DVL integrated systems to precisely evaluate the installation relationship between DVL and INS.An online iterative and recursive method was presented based on the estimation of space-state variables.The obervabilities of these variables were analyzed.The conditions to achieve fully observable were discussed,and the maneuver manners of the ship was given.An estimation filter was designed and put into practical shipboard experiment.The experiment results prove that the estimation error i... |
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| Keywords: | integrated navigation DVL installation angle evaluation Kalman filter |
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