弱观测条件下纯距离导航定位问题研究

The Research on Pure Range Navigation and Positioning under Weak Observation Conditions

水下无人潜航器(Underwater Unmanned Vehicle,UUV)的导航定位主要依靠测距声信标或便携式低精度导航传感器。这些设备观测信息单一且精度低,载体非线性运动及复杂海流等因素均对导航定位精度有较大的影响。因此,文章设计了基于扩展卡尔曼滤波(ExtendedKalmanFiltering,EKF)的导航算法,结果表明该算法适用范围广且具有好的收敛性和精度。

The navigation and positioning of underwater unmanned vehicles(UUV) mainly relies on the ranging acoustic beacon or portable low-precision navigation sensor.The observation information of these devices is single and the accuracy is low.The nonlinear motion of the carrier and the complex ocean currents have a great influence on the navigation and positioning accuracy.Therefore,a navigation algorithm based on extended Kalman filter(EKF)is designed in this manuscript.The results show that the algorithm has a wide range of applications and good convergence and accuracy.