无人水下航行器SINS/DVL组合导航方法研究

SINS/DVL Integrated Navigation Method for Unmanned Underwater Vehicles

给出了应用于无人水下航行器远程航行的基于SINS/DVL的组合导航方法。利用Kalman滤波算法融合DVL测量的绝对速度估计SINS的导航参数误差,并进行校正。仿真结果说明这种方法能够有效提高导航系统精度,从仿真曲线还得到了闭合航路能够大幅度消除导航误差的结论。

The application of SINS （Strapdown Inertial Navigation System） / DVL （Doppler Velocity Log） integrated navigation technology for unmanned underwater vehicles is presented. The navigation parameter errors of SINS are estimated by Kalman filter algorithm mixed with absolute velocity obtained by DVL. The simulation results prove that this method can enhance navigation precision effectively. It is also proposed that the closed track is propitious to eliminate the majority of navigation error.