基于自适应滤波的SINS/DVL组合导航系统

SINS/DVL integrated navigation system based on adaptive filtering

以水下运载体为研究对象,给出一种线性的捷联惯导系统(SINS)误差数学模型,根据多普勒测速仪(DVL)测速的误差特点建立其误差方程,并以捷联惯导系统为主导航设备建立SINS/DVL组合导航系统数学模型.考虑到DVL测速易受水中复杂环境的影响,将Sage-Husa自适应滤波算法引入SINS/DVL组合导航系统.针对Sage-Husa自适应滤波器长时间滤波后自适应程度下降的问题,引入滤波收敛判据对其进行改进,以自适应调节噪声估计器对不同时刻信息利用的权值.仿真结果表明:该基于自适应滤波算法的SINS/DVL组合导航系统稳定性好,且具有较高的导航精度.

A linear mathematical model of SINS (strapdown inertial navigation system ) was estab‐lished for underwater vehicle ,and the DVL (Doppler velocity log ) error equation was built according to DVL measurement error characteristics ,and then based on SINS ,the SINS/DVL integrated navi‐gation system mathematical model was also achieved .Considering the complexity of underwater appli‐cation environment ,the Sage‐Husa adaptive filtering algorithm was introduced to SINS/DVL inte‐grated navigation system .By using the filter convergence criterion ,the weight of information at dif‐ferent time could be adaptively adjusted with noise estimator ,w hich solved the problem of adaptive degree decline of conventional Sage‐Husa filter .The simulation results show that the SINS/DVL inte‐grated system has a good performance in stability and accuracy .