水下导航系统误差辨识及修正方法

Research on Error Parameters Identification and Correction of Autonomous Underwater Vehicles

水下航行器经常采用航位推算方式进行定位。由于存在传感器误差,航位推算的定位误差是随着时间发散的,而直接准确检测这类误差非常困难。对航位推算导航系统误差源进行分析与辨识,在此基础上推导出一种新的辨识AUV(Autonomous Underwater Vehicles)导航误差参数的方法,经实航试验结果表明,该算法能够准确辨识AUV导航误差参数向量,简单有效。

Dead reckoning is an exclusive method applied to AUV （Autonomous Underwater Vehicles）, when it is underwater. Navigation error of Dead reckoning is emanative as time goes on, because sensor error is exist, and it is very difficult to be accurately measured direct. Dead reckoning method has been simplified after the navigation error of the Doppler navigation system was studied,a new method which can identify navigation error parameters of AUV is provided. The experimentation results suggest that the new method can accurately identify navigation error parameters vector of AUV, and can improve the navigation precision effectively, and it＇s logical and simple.