基于航位推算/水声定位系统的水下拖体组合导航方法  

THE INTEGRATED NAVIGATION METHOD BY UNDERWATER TOWING BODY BASED ON DEAD RECKONING/HYDROACOUSTIC POSITIONING SYSTEM

作　　者：郭雅静[1] 李春雨[1] 张东升[2] 赵铁虎[3] 单瑞[3] 张延顺[1] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191 [2]中国科学研究院声学研究所,北京100190 [3]中国地质调查局青岛海洋地质研究所,青岛266071

出　　处：《海洋地质前沿》2015年第6期63-67,共5页Marine Geology Frontiers

基　　金：中国地质调查局国家海洋地质专项(GZH201100308);国家自然科学基金(61473019)

摘　　要：针对航位推算系统位置误差发散、水声定位系统输出信息波动大的特点,利用基于航位推算/水声定位系统的组合导航方法进行深拖系统导航定位。先利用多普勒速度仪和罗经的输出数据进行航位推算得到拖体位置,然后将此位置与水声定位系统输出的位置进行数据融合,得到连续、平滑的高精度深拖系统导航数据,实现水下拖体的高精度定位。应用此方法对海试实验数据进行了处理,实验结果表明:采用组合方法后,既限制了位置误差的发散,又减小了数据波动幅度,可以得到平滑的高精度位置。In order to reduce the positioning error accumulated by the dead reckoning system and the data fluctuation from hydroacoustic positioning systems,this paper adopted the integrated navigation method of the underwater towing body based on the dead reckoning/hydroacoustic positioning system for navigation and positioning of deep-tow systems.Firstly the output data of DVL and compass are used to get the position of the underwater towing body by dead reckoning.Then the position data and the acoustic positioning system outputs are fused to get the continuous and smooth navigation data of the deep-tow system with high accuracy.The method may achieve high-accuracy navigation and positioning data of a underwater towing body which is validated by experimental data of sea trials.The results indicate that the integrated navigation method can curb the error divergence of the dead reckoning system,and reduce the data fluctuation of hydroacoustic positioning systems.Also the integrated navigation method can obtain smooth and high-accuracy position of a underwater towing body.

关 键 词：航位推算 水声定位系统 组合导航 

分 类 号：P631.8[天文地球—地质矿产勘探]