基于INS/GPS/COMPASS的AUV组合式导航定位算法  

SINS/GPS/COMPASS-based Integrated Navigation for an Autonomous Underwater Vehicle

作　　者：白丽[1] 何波[1] 

机构地区：[1]中国海洋大学

出　　处：《微计算机信息》2010年第14期144-145,148,共3页Control & Automation

基　　金：基金申请人:何波;项目名称:基于同时定位与地图构建方法的AUV自主导航技术(国家863计划);颁发部门:中华人民共和国科学技术部(No.2006AA09Z231)

摘　　要：导航定位问题是自主式水下机器人研究(AUV)的主要内容之一,本文针对一种开架式AUV设计了一种采用间接反馈校正的捷联惯性导航与GPS、罗盘相组合的导航方案,其中采用卡尔曼滤波器接收两套导航子系统对同一导航参数输出值的差值,经过滤波计算估计出各误差量。仿真实验的结果表明,SINS/GPS/COMPASS组合导航对SINS误差随时间不断加大的现象起到了很好的抑制作用,能够满足AUV定位精度的要求。Effective method towards navigation and localization with high accuracy have been one of most important research topics for autonomous underwater vehicle （AUV）.An integrated solution based on strapdown inertial navigation system （SINS）,GPS and digital compass is proposed for an open frame AUV.Indirect feedback correction is adopted in this scheme,and a Kalman filter is employed to receive difference between SINS outputs and GPS/COMPASS outputs for same navigation parameters and produce estimation for these errors.Results of simulation experiments show that proposed integrated SINS/GPS/COMPASS navigation solution can restrain error accumulation of SINS and improve navigation accuracy of AUV navigation.

关 键 词：组合导航 导航误差 KALMAN滤波 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]