水下潜器惯性导航定位精度控制研究

Research on Positioning Accuracy Control of Inertial Navigation for Underwater Vehicle

针对水下潜器在各领域的应用的需要,为了实现水下潜器精确的广域定位导航,提出了利用重力梯度信息辅助水下潜器惯性导航系统(INS)。首先利用匹配区选择准则划分重力梯度匹配区,再采用地形轮廓匹配(TERCOM)算法在匹配区内进行匹配定位,无迹卡尔曼滤波(UKF)算法在非匹配区内进行跟踪定位,最后结合这两种方法对规划的两条导航路径进行了仿真。仿真结果表明,基于TERCOM和UKF的重力梯度辅助导航方法不仅能够实现水下潜器的广域定位导航,而且提高了重力梯度辅助导航的定位精度。

Aiming at the underwater vehicle applications in various fields, an inertial navigation system （INS） for underwater vehicle assisted by gravity gradient information is proposed to achieve accurate and wide area navigation for underwater vehicle. Firstly matching area selection criteria are used to divide gravity gradient map into matching and non -matching area, and the terrain contour matching （TERCOM） algorithm is used to match and position in matching area, unscented Kalman filter （UKF） algorithm is used to track and position in non -matching. Finally the two methods are combined to simulate on two navigation routes. The simulation results show that the gravity gradient aided navigation based on UKF and TERCOM method is not only able to achieve a wide area navigation for underwater vehicle, but also increase the gravity gradient aided navigation positioning accuracy.