摘要
针对捷联惯性导航系统(SINS)/多普勒计程仪(DVL)组合导航系统工作于水跟踪模式条件下的高精度定位需求,提出一种考虑洋流影响的SINS/DVL组合导航算法。分析了DVL水跟踪模式下洋流速度对组合导航精度的影响,基于速度匹配组合导航的方式提出了SINS/DVL组合导航系统设计方案,当DVL切换到水跟踪模式后,利用Kalman滤波器对洋流速度进行实时估计,从而能够有效提高DVL仅对水输出时系统的组合导航定位精度。仿真和水上船载试验结果表明,本文提出的考虑洋流速度影响的SINS/DVL组合导航算法是有效的和可行的。
High positioning accuracy is necessary for the strap-down inertial navigation system（SINS）/Doppler Velocity Log（DVL） integrated navigation system when working under water tracking mode. According to this demand, an SINS/DVL integrated navigation algorithm taking into account the impact of ocean current was proposed. The effect of current velocity on the navigation accuracy was analyzed according to the situation when the DVL works under water tracking mode. Based on speed matching integrated navigation method, an SINS/DVL integrated navigation scheme was presented, in which the current speed can be estimated by Klaman filter when the DVL was switched to water tracking mode, thus the positioning accuracy can be improved effectively. Simulations and lake-tests were carried out, and the results show the effectiveness and the feasibility of this SINS/DVL navigation algorithm.
作者
郭玉胜
付梦印
邓志红
邓继权
艾瀛涛
GUO Yu-sheng1,2, FU Meng-yin1, DENG Ji-quan2, DENG Zhi-hong1, AI Ying-tao2(1. School of Automation, Beij ing Institute of Technology, Beij ing 100081, China; 2. Beijing Automation Control Equipment institute, Beijing 100074, Chin)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2017年第6期738-742,共5页
Journal of Chinese Inertial Technology
基金
总装预研项目(51309030401)
海装预先研究课题(3020603030403)
关键词
惯性导航
组合导航
洋流误差
多普勒计程仪
inertial navigation
integrated navigation
effect of ocean current
Doppler velocity log
