一种基于声学定位/航位推算的水下导航定位方法  

The Underwater Navigation and Location Method Based on Acoustic Positioning and Dead Reckoning

作　　者：李春雨[1,2] 张东升[3] 张延顺[1] 周琦[2] 秦国俊 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院 [2]中国人民解放军63726部队 [3]中国科学院声学研究所

出　　处：《船舶工程》2015年第8期57-60,82,共5页Ship Engineering

基　　金：国家863项目(2010AA093901);国家自然科学基金(61473019;61374210)

摘　　要：受环境影响,声学定位系统输出的位置信息波动较大,还会出现数据跳变或丢失现象,严重影响了水下载体的定位精度。针对此问题,提出一种基于声学定位/航位推算的组合导航方案,该方案在组合滤波前对声学定位系统输出数据可用性进行判断,进而选择不同的导航方式。采用计算机仿真和海试实验对研究方法进行了验证,结果表明,该方法能有效融合两种导航系统的优点,平滑声学定位系统数据的波动,且当声学定位系统输出异常时,水下载体短时间内还能保持较高的定位精度。Influenced by the environment, the location information output of the acoustic positioning system fluctuates greatly. Moreover, there will be data jump or loss phenomenon, which seriously affects the positioning precision of the underwater vehicle. Aiming at this problem, an integrated navigation scheme based on acoustic positioning and dead reckoning is put forward. In this scheme, the usability of acoustic positioning system is judged to choose different navigation patterns before filtering. Computer simulation and sea trial are implemented to verify the method. The result indicates that the two navigation systems can be well fused; smoothing the data from acoustic positioning system and the position accuracy of underwater vehicle can be kept comparative high for a short time, when the output of acoustic positioning system is abnormal.

关 键 词：水下导航 声学定位 航位推算 组合导航 

分 类 号：U666.11[交通运输工程—船舶及航道工程]