自主式水下潜器方位对准方法研究  

Study of Azimuth Alignment Method for Autonomous Underwater Vehicle

作　　者：杜红松[1] 徐博[2] 郭崇瑾[2] 

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

出　　处：《中国航海》2009年第3期55-60,共6页Navigation of China

基　　金：国家自然科学基金资助项目(60674087);国家自然科学基金资助项目(60775001)

摘　　要：针对自主式水下潜器传递对准技术进行研究,根据以往的匹配方法中通常水平失准角估计精度高、对准时间快而方位失准角估计总不理想的情况,提出了一种基于惯性测量器件测量求解方位失准角的匹配方法。针对这种匹配方法,将水平失准角信息当作已知量进行计算,进行了理论推导和MATLAB仿真,并且对仿真结果进行分析,结果表明,利用这种方位对准方法估计方位失准角精度高、时间短,有很好的实用性。SINS（Slave Inertial Navigation System） transfer alignment technique for autonomous underwater vehicles is studied. In conventional method, the leveling alignment is accurate and fast, but the accuracy of heading alignment is not satisfactory. An algorithm of azimuth alignment based on the measurement data of inertial device is presented. In the method, related theory is deduced with the leveling alignment information as known variables. The Matlab simulation is carried out. The simulation results show that by this azimuth alignment method, heading alignment can be quickly estimated with high precision, so it has good usability.

关 键 词：船舶 舰船工程 水下自主潜器 传递对准 方位对准 

分 类 号：U666.11[交通运输工程—船舶及航道工程]