水下载体SINS/USBL组合导航滤波方法研究  

Research on SINS/USBL Integrated Navigation Filitering Method for Underwater Vehicles

作　　者：于浩[1] 王彦国[1] 胡小毛[1] 王桂如[1] YU Hao WANG Yan-guo HU Xiao-mao WANG Gui ru(Tianjin Navigation Instrument Research Institute, Tianjin 300131, China)

机构地区：[1]天津航海仪器研究所,天津300131

出　　处：《导航定位与授时》2017年第1期20-24,共5页Navigation Positioning and Timing

基　　金：装备预研船舶重工联合基金(6141B04050301-04)

摘　　要：捷联惯性导航系统(SINS)具有短期定位精度高的优点,但其定位误差随时间发散,超短基线(USBL)在其有效工作范围内定位误差不发散,且由于受作用距离及复杂水下环境的影响,其定位数据不连续,离散度大,野值多。水下载体导航采用SINS/USBL组合导航,可充分发挥各自的优势。根据USBL量测信息的特性,给出了一种基于改进的带观测噪声时变估计器的Sage-Husa自适应Kalman滤波方案,经实物数据仿真验证了此滤波方案的有效性。Strapdown inertial navigation system（SINS）has the advantage of short-term high precision,butitspositioning error diverges over time.The positioningerror of ultra short baseline（USBL）doesn＇t diverge within its effective working range,but itspositioning databecomes discontinuity with greater discreteness and more outliersdue to theimpact of operating range and complicated underwater environment.While SINS/UBSL integrated navigation scheme can help underwater vehiclemake full use of respective advantages.According to the characteristic of the USBL measurement information,a Sage-Husa adaptive Kalman filtering scheme which is based on improved observation time-varying noise estimatoris presented.Simulation verify the effectiveness of filtering scheme.

关 键 词：SINS USBL 组合导航 Sage-Husa自适应滤波 

分 类 号：U666.12[交通运输工程—船舶及航道工程]