水下航行器自主导航精度评定方法

An Evaluation Method of Autonomous Navigation Accuracy for Autonomous Underwater Vehicle

为了解决自主式水下航行器(AUV)自主导航精度指标的考核与评定难题,从借鉴其他行业相关方法入手,理清了自主导航精度指标的概念与定义。结合工程实际采用的试验方法,提出了AUV自主导航精度试验样本要求,对试验样本的筛选制定了约束条件,规范了样本选取。给出了计数法与计量法等2种指标评估方法,并以实际数据为例进行了演算,验证了本文自主导航精度评定方法是合理可行的。

To evaluate autonomous navigation accuracy for an autonomous underwater vehicle(AUV),the concept anddefinition of autonomous navigation accuracy specification are clarified via reference for related methods in other industries.Considering the test methods for engineering,the requirement for test sample of AUV autonomous navigationaccuracy is proposed,the constraint conditions are set for screening the test samples,and sample selection is standardized.Two evaluation methods of AUV autonomous navigation accuracy,i.e.counting method and measurement method,are presented,and actual data are used for calculation.The result verifies the reasonability and feasibility of the proposedevaluation method of AUV autonomous navigation accuracy.