考虑声速误差的水声定位组合导航方法研究

Research on the Integrated Navigation Method Based on Acoustic Positioning with Acoustic Velocity Error

针对水下航行器利用单信标声学定位时,声速误差影响定位精度的问题,提出一种基于时延信息测量的水声定位组合导航方法。建立航行器运动推算定位模型,并将平均声速扩展为状态,以应答信号时延为测量方程,构建扩展卡尔曼滤波模型进行组合导航信息融合。研究表明,选择时延信号而不是测距信息作为组合导航的测量信息,可以有效地估计出实际声速,提高利用单信标定位的精度。仿真分析结果表明该方法具有较好的效果。

The acoustic velocity error will influence the positioning accuracy for the navigation of underwater vehicle using single acoustic beacon.An integrated navigation method using time-delay of beacon signal and dead reckoning information is proposed.The Extended Kalman Filter is used for information fusion,in which the position of vehicle and the acoustic velocity are set as the process states and the time-delay of beacon signal is viewed as measurement of output.The method is studied with simulation for different vehicle tracks.The results indicate that the method can estimated the acoustic velocity practically used.At the same time,it also promotes the positioning accuracy of single beacon.