SINS/LBL组合导航序贯滤波方法

Sequential filter algorithm in SINS/LBL integrated navigation

在长基线水声定位系统(LBL)实际应用过程中,由于信标作用距离限制、障碍物遮挡等多种原因,使得水下无人航行器(UUV)可能无法接收到所有信标的应答信号而产生量测更新延迟问题。对UUV在无法接收到所有信标信号时的导航滤波算法进行了研究;结合捷联惯性导航系统(SINS)误差模型和声速误差,建立了SINS/LBL组合导航模型,并将异步量测序贯处理方法引入该模型,实现了SINS/LBL组合导航滤波算法的实时量测更新;通过湖上试验数据分析,对比了SINS/LBL组合导航序贯滤波方法与常规方法的位置误差。结果表明,该方法即使在应答信号有缺失的情况下,仍然能够利用有限的应答信号量测值进行实时量测更新,保障了组合导航的精度。

Due to the limited distance of beacon operating, stumbling block, etc. in long Base-Line （LBL） acoustic positioning system, the Unmanned Underwater Vehicle （UUV） may not receive the entire response signals, and cause the measurement update delay. The paper focuses the navigation filter algorithm for the above conditions. Combined the error model of Strapdown Inertial Navigation System （SINS） and the error of sound velocity, the SINS/LBL integrated navigation model is built. An asynchronous measurement sequential processing method is introduced into the SINS/LBL integrated navigation algorithm to optimize the fltering process and achieve measurement update in time. The positioning error between the sequential filter algorithm and the conventional algorithm in SINS/LBL integrated navigation is compared via lake trial data analysis. The results show that this method can perform measurement update timely using limited observed values of responding signal and guarantee the navigation precision, even when some responding signal is missing.