基于惯性导航/地磁的水下潜器组合导航定位方法

The underwater integrated navigation method of underwater vehicle based on INS / geomagnetic

针对水下潜器长时间水下航行的隐蔽性且定位精度不高的问题,提出了一种基于惯性导航/地磁的组合导航系统。建立了惯性导航/地磁组合导航系统模型,并且利用卡尔曼滤波算法对系统进行滤波。最后通过仿真实验表明,该组合导航系统能够有效弥补单惯性导航系统精度发散的不足,提高了导航精度,实现了水下潜器的精确导航。

Considered the problem that low positioning accuracy and difficult concealment of underwater vehicle under water long time, the integrated navigation system based on inertial navigation system （INS）/ geomagnetic is proposed. The integrated navigation system model is constructed and the integrated navigation system is filtered by the Kalman filter algorithm. Finally, simulated the submarine integrated navigation system, the result show that the integrated navigation system can eliminate the limitation of accuracy divergence with pure INS effectively and the navigation accuracy is increased, as well as the precise navigation of underwater vehicle is achieved.