海底地形辅助导航全面仿真技术研究

Study on comprehensive simulation technology for seabed terrain-aided navigation

介绍了利用纯软件仿真的海底地形辅助导航系统(STAN),对系统体系结构、水下运载体、捷联式惯性导航系统、测深测潜仪、导航精度分析与评价以及电子海图与航迹规划等进行了综合研究,分别建立了相应的系统模型和数学模型并用VC++语言进行了实现。经过多种海底地形匹配算法的运行检验,系统设计合理,易于扩展和维护,实现了对STAN系统的原理和功能验证,为STAN系统工程化、实用化提供了一定的理论依据。

In this paper, the pure software simulation for the seabed terrain aided navigation system （STAN） is presented. The authors emphases is to study on the system architecture and main simulation object based on the system requirement, to construct the mathematic model for each simulation object, such as the underwater vehicle, strap-down inertial navigation system, echo sounder, circular error probability, electronic chart and track planning. The simulation models for them are realized by using the VC ＋＋ language and the several matching algorithms runs on it. All result shows that the design is accurate, the maintenance and expansibility is easy. So, the principle and function of the STAN has been validated, the theoretical principle for STAN engineering development and practicability is provided in a way.