SINS/DVL水下初始对准与定位导航

Initial Underwater Alignment and Position Determination for SINS/DVL

在仅有初始位置信息的条件下,给出一种SINS/DVL组合导航系统初始对准与定位导航的方法;以惯性坐标系作为SINS解算的参考基准并借助DVL测量的信息,用四元数卡尔曼滤波进行初始对准;计算载体在惯性凝固载体坐标系下的位移增量再转换至导航坐标系,完成在对准过程中及对准完成以后的定位导航;处理试验数据表明:该方法能够实现SINS/DVL组合导航系统水下航向大失准角初始对准与定位导航,可在600 s内完成初始对准,在航行4 000 s后定位精度约为航程的0.4%。

The paper presented a method of initial underwater alignment and position determination for SINS/DVL integrated navigation system under the condition of the only initial position information. By taking inertial frame as computing reference and with the adding of DVL,a Kalman filter for estimating the quaternion was established to realize the initial alignment; Moreover,a real-time position determination ability was accessed by adding the distance of the carrier travelled in the navigation frame,which is transformed from that in the inertial frame,avoiding recording mass of data and ＂playback＂calculation.Finally,some tests were carried out to prove the correctness and effectiveness of the presented method of initial underwater alignment with large course misalignment angle and position determination for SINS/DVL integrated navigation system,and the results show that it can achieve the initial alignment in 600 seconds and the position accuracy is about 0. 4% of the distance travelled in 4 000 seconds.