基于EKF的UUV单信标水声导航定位方法研究

Navigating and Positioning Based on EKF for Unmanned Underwater Vehicle from A Single Beacon

文章描述了基于扩展卡尔曼滤波算法的水声导航定位方法,该方法可以对UUV(无人水下航行器)进行导航估计,有效减少导航定位过程中的累积位置误差;导航模型中信标与UUV时间同步,且信标以一定时间间隔,广播发送水声脉冲信号,UUV利用信号的传输时间延迟,确定与信标之间的相对距离;通过解算UUV与信标的相对距离,以及自身的航行速度、航向角等参数变量,利用扩展卡尔曼滤波算法,可估计出UUV相对信标的位置,通过优化算法,可以有效降低定位过程中的累积位置误差;仿真结果表明,该导航定位算法实现简单、导航精度高,对未来小型UUV导航方法有很好的实用价值。

This paper describes an underwater navigating and positioning approach based on Extended Kalman Filtering for Unmanned Undersea Vehicles, which can decrease the accumulated position errors of INS during UUV＇ s voyage. In this navigation algorithm, the location of the beacon is known, and the beacon sends pulse singles to the UUV in certain time interval in unidirectional way, suppose that the beacon and UUV work in the way of time synchronization. The UUV can obtain the relative distance between the beacon and UUV. The moving location＇ trajectory can be estimated by Extended Kalman Filtering algorithm with UUV~ s velocity, heading angle and the relative distance. The results of the numerical simulation indicate that this way has low-- cost and high precision, and especially has practical applica- tion in long＇-term UUV.