在水池中精确测量潜器模型运动参数方法

Method for accurately measuring motion parameters of underwater vehicle model in a pool

为了在水池实验中精确测量水下潜器模型运动参数,本文设计了一种成本低、实时性好和测量信息全面的惯性导航测量方法。为获取水下潜器模型的运动状态,本文依据高通滤波后的瞬时线速度和模型运动的角速度及姿态,提出了一种水下潜器是否处于机动状态的判断方案。考虑到水下潜器运动的便利性,当模型被判断为静止后将进行一次朝向调整以更为充分地获取陀螺仪和加速度计常值误差的估计。水池模拟实验表明:采用该方法的测量精度估计比惯导推位方法减少了75%的误差,水池实验也证实了该方法可将上浮定位误差减少至厘米级。

To accurately measure the motion parameters of an underwater vehicle model in a pool experiment,in this study,we designed an inertial navigation measurement method that is low in cost,demonstrates good real-time performance,and enables comprehensive measurement.To obtain the motion state of an underwater vehicle model,we present a scheme for determining the movement of the underwater vehicle based on the instantaneous linear velocity after high-pass filtering and the angular velocity of the model.To improve the convenience of the underwater vehicle′s movement,we made an orientation adjustment to obtain a better estimation of the constant errors of the gyroscope and accelerometer when the model was stationary.The results of our indoor simulation experiment reveal that,compared with dead reckoning,the proposed method can reduce measurement error by 75%,and the floating test results of the pool experiment also prove that this method can limit position errors to the centimeter level.