水下分离式运载器空间间接定位算法建模

Modeling of indirect spatial position algorithm for underwater vehicle

提出分离式水面探测器与其载体——水下运载器在动态基准条件下的空间间接定位算法。通过对解脱点处的大地直角坐标系、水下运载器坐标系、分离式水面探测器坐标系间的平移、旋转变换,及基于直线加速度计的二次积分位移矢量运算,推导出水下运载器与分离式水面探测器在动态基准下空间间接定位算法的数学解析模型。仿真表明:该模型能真实反映分离后的水下运载器在分离式水面探测器位置处大地直角坐标系中的空间位置关系。

An indirect spatial position algorithm is presented for separated water surface detector and its carrier（e.g.underwater vehicle） under the dynamic baseline.By translation and rotation transformation ofgeodetic coordinates at release position,underwater vehicle coordinates and separated water surface detector coordinates,as well as the double integral displacement vector operation based on linear accelerometer,the modeling of indirect spatial position algorithm for underwater vehicle and separated water surface detector under the dynamic baseline was established Simulation results show that the model reflects the spatial position of the underwater vehicle in the geodetic coordinates relative to separated water surface detector.