基于自适应滤波的水下SINS/相控阵DVL组合导航算法设计  

Design of SINS/ Phased Array DVL integrated navigation system for underwater vehicle based on adaptive filtering

作　　者：唐康华[1] 江明明[1] 翁炬[2] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,长沙410073 [2]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2013年第1期65-70,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61104201)

摘　　要：针对远程自主水下航行器的远程性和自主性,加之水下环境复杂,其导航和定位的精度很难保证的特点,设计一种基于相控阵DVL的自适应滤波的SINS/DVL组合导航算法。基于相控阵DVL特点,推导了速度观测方程,并对降维滤波器进行了设计和时空误差进行修正。采用50型激光陀螺研制出工程样机,并进行了河试试验和海试试验,试验结果表明采用自适应滤波算法能够进一步提高SINS/DVL自主导航的精度,并且SINS/DVL自主导航精度优于2‰D(D为航程),为远程水下航行器提供一种自主好、精度高、价格适中的导航手段。Long range and the complex ocean conditions make navigation and position very important for the long-range Autonomous Underwater Vehicle.In this paper,a SINS/phased array DVL integrated navigation system was designed for underwater vehicle based on adaptive filtering.According to phased array DVL characteristic,the observation equations were attained.And reduced dimension Kalman filter and time-space calibration method were designed for the SINS/DVL integrated navigation.An engineering prototype IMU was constructed based on Model 50 RLG.By using river trial and sea trial,the designed algorithm was validated.The test results show that the adaptive filter arithmetic has better performance than the conventional filter arithmetic,and the positioning accuracy is better than 2‰ distance,which offers an autonomous,high precision and appropriate price navigation method for long-range AUV.

关 键 词：SINS DVL组合导航 自适应滤波 激光陀螺 相控阵DVL 水下航行器 

分 类 号：U666.1[交通运输工程—船舶及航道工程]