SINS/DVL水下组合导航系统的误差分析与改进技术

Error Analysis and Performance Improvement about the SINS/DVL Integrated Navigation System

探讨了一种适用于SINS／DVL组合导航系统的滤波原理，通过分别建立捷联惯导系统误差模型和多普勒误差模型，利用间接卡尔曼滤波原理和反馈校正法，对系统进行仿真与分析，由惯性器件的误差方差通过导航系统的误差模型得出导航参数的误差方差，结果表明，该组合导航系统的定位精度要远远高于单纯捷联惯导系统。同时，针对SINS／DVL,组合导航系统工作特点及特定情况下AUV的定位精度要求，提出了一种GPS辅助SINS／DVL组合导航系统导航定位的方案。

A filtering theory which was suit for the SINS/DVL integrated navigations system was studied. By building the error models of strapdown inertial navigation system and Doppler velocity log, simulation and analysis had been done based on the applying about the theory of indirection Kalman filtering and feedback correction, and the error covariance of the navigation system was obtained through the error Covariance of the inertial sensor. Results showed that the navigation accuracy of this integrated navigation was much better than that of the pure strapdown inertial navigation system. A GPS aided SINS/DVL integrated navigation process was presented, based on the characteristic of the SINS/DVL integrated navigation system and the requirement of navigation accuracy for AUV.