螺旋桨转速信息辅助水下航行器组合导航研究

Research on Integrated Navigation Technology Assisted by Propeller Speed Information for AUV

研究组合导航技术在自主水下航行器(AUV)导航系统的优化设计问题。由于惯性导航误差影响定位精度,在以低速进行大航程水下航行时,复杂海洋环境可能导致DVL失效,且存在无法在水下持续获取GPS信号的情况。为解决上述问题,提出采用新的测速源即螺旋桨转速信息,用来提供航行器速度,采用卡尔曼滤波方法建立组合导航,并采用matlab仿真,结果表明:螺旋桨转速信息辅助下的组合导航系统,能够减小水下航行器导航定位误差,增强水下导航定位系统的稳定性、可靠性和适应性。

The optimization design problems of integrated navigation technology in the autonomous underwater vehicle （AUV） navigation system was discussed in this paper. The inertial navigation errors can affect the positioning accuracy. In a large range and low speed travel, the complexity marine environment may lead DVL to become inva- lid, and continuous GPS signals are unable to be obtained underwater. Considering the above problems, a new speed source（propeller speed information） was presented to provide the vehicle speed information. Based on Kalman filte- ring method, an integrated navigation system waaas established. The simulation results show that compared to simple inertial navigation system, the integrated navigation system assisted by propeller speed information can effectively reduce navigation and positioning error, enhance stability, reliability and adaptability of the underwater navigation and positioning system.