基于Sage-husa自适应滤波算法的AUV组合导航系统设计

Design of AUV integrated navigation system based on Sage-husa adaptive filtering algorithm

文中针对水下自主航行器提出了一种新型的基于捷联惯导(SINS)和GPS的组合导航系统设计方案。该方案以捷联惯导作为主系统,同时利用GPS重调捷联惯导系统,建立了该组合导航系统的卡尔曼滤波模型,设计了输出校正间接法的卡尔曼滤波算法和Sage-husa自适应卡尔曼滤波算法。仿真结果表明由于GPS位置和速度信息的引入,一定程度上克服了捷联惯导系统误差状态发散现象,提高了导航精度。同时通过两种算法的对比,Sage-husa自适应卡尔曼滤波算法则具有更高的滤波精度和稳定性,能够更好的满足长时间远距离导航的要求。

This paper mainly puts forward a new type of based on strapdown inertial navigation system （SINS）and GPS integated navigation system design scheme, Strapdown inertial navigation system is the main system, together with a GPS reset strapdown inertial navigation system, The kalman filter model for the system is built up, design Kalman filter algorithm with output correction indirect method and Kalman filter algorithm using sage-husa self-adaption to SINS/GPS integrated navigation system, The simulation results reveal that due to the GPS position and speed the introduction of information,to a certain extent,overcome the strapdown inertial navigation system error state divergent phenomenon, To improve the navigation accuracy .at the same time through the two algorithm＇s contrast,sage-husa adaptive kalman filtering algorithm has higher filtering accuravy and stability,can better meet the requirements of long distance navigation.