基于AKF的组合对准方法在AUV中的应用  

Application of the Integrated Alignment Method in AUV Based on AKF

作　　者：李亮[1] 杜红松[2] 张鑫[1] 郭崇瑾[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]海军装备研究院舰船所,北京100073

出　　处：《船海工程》2009年第1期89-92,共4页Ship & Ocean Engineering

基　　金：国家自然科学基金(60604019)

摘　　要：针对水下航行器(AUV)初始对准过程中,由于惯性测量器件的测量精度不高,导致系统自对准的精度不高的问题,提出在初始对准阶段采用DVL辅助的组合对准方法,引入DVL提供的速度信息提高对准的精度。建立AUV中系统的状态方程和观测方程,同时为解决噪声不确定导致滤波器发散的问题,提出将自适应卡尔曼滤波(AKF)用于组合对准中。通过采集到的实验数据验证基于AKF的组合对准方法的精度比较高,将其用于AUV的初始对准中是可行的。In view of AUV initial alignment process, because the inertial survey component＇s measuring accuracy is not high, the self-alignment precision of the system is not high, the combination alignment method was proposed in which DVL was used as the auxiliary service in the initial alignment stage. The method can improve alignment precision by introducing speed information which DVL provides. The system＇s equation of state and the observational equation were estab lished,at same time the AKF was applied in the integrated alignment to resolve the uncertainty caused noise filter diver gence of issues. Experimental results showed that the precision of integrated alignment method is higher than that of the traditional method,and it is feasible to be used in the alignment of AUV.

关 键 词：水下航行器 组合对准 多普勒计程仪 自适应卡尔曼滤波 

分 类 号：U666.12[交通运输工程—船舶及航道工程]