一种基于相对测量信息的SINS/USBL组合导航算法

An Algorithm Used in Underwater SINS/USBL Integrated Navigation

针对使用传统位置匹配算法解决SINS/USBL组合导航的问题,需要先利用USBL输出信息实时求解出载体的绝对位置,设计了一种基于相对测量信息的SINS/USBL组合导航算法。该算法无需求解绝对位置,直接利用超短基线系统原始输出的高度角、方位角和斜距等相对测量信息进行卡尔曼滤波组合导航,且在滤波器设计时能够根据传感器测量精度对滤波参数进行设计,更有针对性。通过理论数据仿真和湖面试验数据处理,证明了该组合导航算法能够在一定程度上提高导航精度,具有可行性。

For the problem that the traditional position integrated navigation must be working after the absolute position of the USBL （Ultra Short Base Line） was evaluated, design a new integrated navigation algorithm which observes the relative measurement information. The algorithm no longer needs to evaluate the absolute position, and it can do the KF integrated navigation by means of observing the immediate data of USBL outputs, the relative measurement information （ depression, bearing and range ） , and design the KF parameter based on the USBL sensor measurement precision. Besides, a theory simulation and a lake test data analysis prove the improvement and the practicability of the new integrated navigation algo- rithm.